modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 17:16:38 -04:00
parent ef74927582
commit 18c861e44f
2 changed files with 6 additions and 3 deletions
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4
src/modelec_strat/src/enemy_manager.cpp
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@@ -219,7 +219,7 @@ namespace Modelec
last_enemy_pos_ = enemy_pos;
last_publish_time_ = this->now();
last_movement_time_ = this->now(); // Mise à jour du dernier vrai mouvement
enemy_pos_pub_->publish(enemy_pos);
// enemy_pos_pub_->publish(enemy_pos);
// RCLCPP_INFO(this->get_logger(), "Enemy moved: x=%f, y=%f", enemy_pos.x, enemy_pos.y);
}
else
@@ -227,7 +227,7 @@ namespace Modelec
auto now = this->now();
if ((now - last_movement_time_).seconds() > max_stationary_time_s_)
{
enemy_long_time_pub_->publish(last_enemy_pos_);
// enemy_long_time_pub_->publish(last_enemy_pos_);
/*RCLCPP_WARN(this->get_logger(), "Enemy has been stationary for too long at x=%f y=%f",
last_enemy_pos_.x, last_enemy_pos_.y);*/

5
src/modelec_strat/src/strat_fms.cpp
View File

@@ -163,7 +163,10 @@ namespace Modelec
{
Transition(State::DO_PROMOTION, "Start promotion");
}*/
Transition(State::DO_GO_HOME, "Go Home");
if (elapsed.seconds() >= 2)
{
Transition(State::DO_GO_HOME, "Go Home");
}
// TODO : check the time needed by the mission
/*else if (elapsed.seconds() < 70)
{