cleanup

examples/ros2/ros2_ws/src/gui/gui/node.py

@@ -72,8 +72,7 @@ class NiceGuiNode(Node):
             user.position.text = f'x: {msg.position.x:.2f}, y: {msg.position.y:.2f}'
             user.position.update()
             user.robot_3d.move(msg.position.x, msg.position.y)
-            quaternion = Quaternion(msg.orientation.w, msg.orientation.x,
-                                    msg.orientation.y, msg.orientation.z)
+            quaternion = Quaternion(msg.orientation.w, msg.orientation.x, msg.orientation.y, msg.orientation.z)
             user.robot_3d.rotate(0, 0, quaternion.yaw_pitch_roll[0])
 
 

examples/ros2/ros2_ws/src/simulator/simulator/node.py

@@ -26,17 +26,11 @@ class Simulator(Node):
         quaternion = Quaternion(self.pose.orientation.w, self.pose.orientation.x,
                                 self.pose.orientation.y, self.pose.orientation.z)
         theta = quaternion.yaw_pitch_roll[0]
-
         self.pose.position.x += self.linear_velocity * math.cos(theta) * self.step_size
         self.pose.position.y += self.linear_velocity * math.sin(theta) * self.step_size
         theta += self.angular_velocity * self.step_size
-
         quaternion = Quaternion(axis=[0.0, 0.0, 1.0], radians=theta)
-        self.pose.orientation.x = quaternion.x
-        self.pose.orientation.y = quaternion.y
-        self.pose.orientation.z = quaternion.z
-        self.pose.orientation.w = quaternion.w
-
+        self.pose.orientation.x, self.pose.orientation.y, self.pose.orientation.z, self.pose.orientation.w = quaternion.elements
         self.pose_publisher_.publish(self.pose)