| 20 | nav_msgs::Odometry current_odom, last_odom; |
| 21 | int first_odom_flag = 0; |
| 22 | void Odom_callback(const nav_msgs::Odometry &odom) { |
| 23 | if (first_odom_flag == 1) { |
| 24 | last_odom = current_odom; |
| 25 | } else { |
| 26 | first_odom_flag = 1; |
| 27 | } |
| 28 | current_odom = odom; |
| 29 | ROS_INFO("current odom received"); |
| 30 | } |
| 31 | |
| 32 | geometry_msgs::PoseStamped pose_cmd; |
| 33 | int control_flag = 0; |
nothing calls this directly
no outgoing calls
no test coverage detected