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chore(example): update h2_loco_client.cpp #27

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Merged
wjbbupt merged 1 commit into from
Apr 30, 2026
+2 −11
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chore(example): update h2_loco_client.cpp #27

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13 changes: 2 additions & 11 deletions example/src/src/h2/high_level/h2_loco_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -151,30 +151,22 @@ class H2LocoClientNode : public rclcpp::Node
}
else if (test_option_.name == "set_fsm_id")
{
// Same behavior style as b2 demo: fixed parameter.
ret = client_.SetFsmId(4);
}
else if (test_option_.name == "set_velocity")
{
// Fixed: vx vy omega duration
// Align with b2 demo `Move(req, 0.0, 0.0, 0.5)` style.
ret = client_.SetVelocity(0.0F, 0.0F, 0.5F, 1.0F);
ret = client_.SetVelocity(0.0F, 0.0F, 1.0F, 4.0F);
}
else if (test_option_.name == "move")
{
// Fixed: vx vy omega
// Align with b2 demo `Move(req, 0.0, 0.0, 0.5)` style.
ret = client_.Move(0.0F, 0.0F, 0.5F);
ret = client_.Move(0.0F, 0.0F, 2.0F);
}
else if (test_option_.name == "switch_move_mode")
{
// Fixed: enable continuous move mode.
ret = client_.SwitchMoveMode(true);
}
else if (test_option_.name == "set_speed_mode")
{
// Fixed: speed_mode
// Align with b2 demo `SpeedLevel(req, 1)` style.
ret = client_.SetSpeedMode(1);
}
else
Expand Down Expand Up @@ -204,7 +196,6 @@ int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<H2LocoClientNode>();
// `common/b2_base_client.hpp` spins this node internally, so do not add it to another executor.
while (rclcpp::ok())
{
std::this_thread::sleep_for(200ms);
Expand Down
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