modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 12:12:07 -04:00
parent f49c82b8b2
commit 12810412be
2 changed files with 7 additions and 2 deletions
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3
src/modelec_com/src/pcb_action_interface.cpp
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@@ -190,7 +190,6 @@ namespace Modelec
"action/tir/arm/set", 10,
[this](const std_msgs::msg::Bool::SharedPtr msg)
{
RCLCPP_INFO(this->get_logger(), "TIR arm set to: %s", msg->data ? "true" : "false");
SendOrder("TIR", {"ARM", msg->data ? "1" : "0"});
});
@@ -280,7 +279,7 @@ namespace Modelec
void PCBActionInterface::PCBCallback(const std_msgs::msg::String::SharedPtr msg)
{
RCLCPP_INFO(this->get_logger(), "Received message: '%s'", msg->data.c_str());
RCLCPP_DEBUG(this->get_logger(), "Received message: '%s'", msg->data.c_str());
std::vector<std::string> tokens = split(trim(msg->data), ';');
if (tokens.size() < 2)

6
src/modelec_strat/src/navigation_helper.cpp
View File

@@ -436,6 +436,12 @@ namespace Modelec
msg.y = pos.y;
msg.theta = pos.theta;
SetPos(msg);
PosMsg::SharedPtr goal = std::make_shared<PosMsg>();
goal->x = pos.x;
goal->y = pos.y;
goal->theta = pos.theta;
OnPos(goal);
}
void NavigationHelper::SetPos(int x, int y, double theta)