From 8e5cd5950253037c4eccf955cbf82dd30c6256dd Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Thu, 21 Aug 2025 10:58:03 +0200 Subject: [PATCH] rover: fix setpoint generation --- src/modules/rover_ackermann/RoverAckermann.cpp | 2 +- src/modules/rover_differential/RoverDifferential.cpp | 2 +- src/modules/rover_mecanum/RoverMecanum.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/rover_ackermann/RoverAckermann.cpp b/src/modules/rover_ackermann/RoverAckermann.cpp index 543a48dcc0..fa7b814134 100644 --- a/src/modules/rover_ackermann/RoverAckermann.cpp +++ b/src/modules/rover_ackermann/RoverAckermann.cpp @@ -97,7 +97,7 @@ void RoverAckermann::Run() void RoverAckermann::generateSetpoints() { vehicle_status_s vehicle_status{}; - _vehicle_status_sub.update(&vehicle_status); + _vehicle_status_sub.copy(&vehicle_status); switch (vehicle_status.nav_state) { case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: diff --git a/src/modules/rover_differential/RoverDifferential.cpp b/src/modules/rover_differential/RoverDifferential.cpp index f911363ac5..5efd3e94dc 100644 --- a/src/modules/rover_differential/RoverDifferential.cpp +++ b/src/modules/rover_differential/RoverDifferential.cpp @@ -98,7 +98,7 @@ void RoverDifferential::Run() void RoverDifferential::generateSetpoints() { vehicle_status_s vehicle_status{}; - _vehicle_status_sub.update(&vehicle_status); + _vehicle_status_sub.copy(&vehicle_status); switch (vehicle_status.nav_state) { case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: diff --git a/src/modules/rover_mecanum/RoverMecanum.cpp b/src/modules/rover_mecanum/RoverMecanum.cpp index b99e70bc5b..e3709408d8 100644 --- a/src/modules/rover_mecanum/RoverMecanum.cpp +++ b/src/modules/rover_mecanum/RoverMecanum.cpp @@ -98,7 +98,7 @@ void RoverMecanum::Run() void RoverMecanum::generateSetpoints() { vehicle_status_s vehicle_status{}; - _vehicle_status_sub.update(&vehicle_status); + _vehicle_status_sub.copy(&vehicle_status); switch (vehicle_status.nav_state) { case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: