floodshao / ros_learning Goto Github PK

Hello, I have successfully been able to run the ee3305_path_plan_v2 with a turtlebot. I would like to get it work with a Husky instead. So far, I have uncommented a line in BotControl.cpp and right now, my husky turns around in circles in the same place. Or when I edit the trans_x or trans_heading code, the husky jams into the wall, and doesn't turn. Would you be able to help with this? Am I missing something?
The following is the jammed husky:

The following is the code used:

This is my BotControl.cpp:
BotControl.zip

Thank you so much for your time!