| 129 | } |
| 130 | |
| 131 | void TurtleBot3::add_wheels() |
| 132 | { |
| 133 | RCLCPP_INFO(this->get_logger(), "Add Wheels"); |
| 134 | |
| 135 | this->declare_parameter<float>("wheels.separation"); |
| 136 | this->declare_parameter<float>("wheels.radius"); |
| 137 | |
| 138 | this->get_parameter_or<float>("wheels.separation", wheels_.separation, 0.160); |
| 139 | this->get_parameter_or<float>("wheels.radius", wheels_.radius, 0.033); |
| 140 | } |
| 141 | |
| 142 | void TurtleBot3::add_sensors() |
| 143 | { |
nothing calls this directly
no outgoing calls
no test coverage detected