From 84cca304be0dcbe09f8a09df2c22a46b9b8b6e9f Mon Sep 17 00:00:00 2001
From: Stevedan Ogochukwu Omodolor <stevedan.o.omodolor@gmail.com>
Date: Tue, 14 Jun 2022 08:10:58 +0200
Subject: [PATCH] actvated control

---
 .../coordination_formation_control_pkg/src/drone_node.cpp     | 4 ++--
 .../coordination_formation_control_pkg/src/omniwheel_node.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
index 169941d..38428aa 100644
--- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
@@ -289,7 +289,7 @@ int main(int argc, char **argv) {
       current_command.vy = 0;
       current_command.yawrate = 0;
       current_command.zDistance = 0.5;
-      // vel_cmd_publisher.publish(current_command);
+      vel_cmd_publisher.publish(current_command);
 
 
     }
@@ -410,7 +410,7 @@ int main(int argc, char **argv) {
       // std::cout << "vy: transformed: " << vxl << "vy transformed: " << vyl << std::endl;
 
 
-      // vel_cmd_publisher.publish(current_command);
+      vel_cmd_publisher.publish(current_command);
 
     }
 
diff --git a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
index ed28944..d9179d8 100644
--- a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
@@ -315,7 +315,7 @@ int main(int argc, char **argv) {
 
 
       }
-      // vel_cmd_publisher.publish(current_command);
+      vel_cmd_publisher.publish(current_command);
 
     }
     if(coord_config->stop_demo)
-- 
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