From 12810412bec219644e05b71bcca1ea20542cb9f1 Mon Sep 17 00:00:00 2001 From: acki Date: Thu, 29 May 2025 12:12:07 -0400 Subject: [PATCH] debug --- src/modelec_com/src/pcb_action_interface.cpp | 3 +-- src/modelec_strat/src/navigation_helper.cpp | 6 ++++++ 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp index 8794242..b9a33a3 100644 --- a/src/modelec_com/src/pcb_action_interface.cpp +++ b/src/modelec_com/src/pcb_action_interface.cpp @@ -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 tokens = split(trim(msg->data), ';'); if (tokens.size() < 2) diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp index c51b6cf..11f7071 100644 --- a/src/modelec_strat/src/navigation_helper.cpp +++ b/src/modelec_strat/src/navigation_helper.cpp @@ -436,6 +436,12 @@ namespace Modelec msg.y = pos.y; msg.theta = pos.theta; SetPos(msg); + + PosMsg::SharedPtr goal = std::make_shared(); + goal->x = pos.x; + goal->y = pos.y; + goal->theta = pos.theta; + OnPos(goal); } void NavigationHelper::SetPos(int x, int y, double theta)