modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 13:31:27 -04:00
parent 333d8dfb89
commit 22c30d0808
2 changed files with 5 additions and 5 deletions
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2
src/modelec_strat/src/navigation_helper.cpp
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@@ -139,7 +139,7 @@ namespace Modelec
} }
auto w = waypoint_queue_.front().ToMsg(); auto w = waypoint_queue_.front().ToMsg();
RCLCPP_DEBUG(node_->get_logger(), "Sending waypoint: x: %d, y: %d, theta: %f, id: %d", RCLCPP_INFO(node_->get_logger(), "Sending waypoint: x: %d, y: %d, theta: %f, id: %d",
w.x, w.y, w.theta, w.id); w.x, w.y, w.theta, w.id);
waypoint_pub_->publish(w); waypoint_pub_->publish(w);
waypoint_queue_.pop(); waypoint_queue_.pop();

8
src/modelec_strat/src/strat_fms.cpp
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@@ -132,13 +132,13 @@ namespace Modelec
{ {
RCLCPP_INFO_ONCE(get_logger(), "State: WAIT_START - Match starting"); RCLCPP_INFO_ONCE(get_logger(), "State: WAIT_START - Match starting");
std_msgs::msg::Bool start_odo_msg; nav_->SetSpawn(modelec_interfaces::msg::Spawn::BOTTOM);
start_odo_msg.data = true;
start_odo_pub_->publish(start_odo_msg);
rclcpp::sleep_for(std::chrono::milliseconds(300)); rclcpp::sleep_for(std::chrono::milliseconds(300));
nav_->SetSpawn(modelec_interfaces::msg::Spawn::BOTTOM); std_msgs::msg::Bool start_odo_msg;
start_odo_msg.data = true;
start_odo_pub_->publish(start_odo_msg);
match_start_time_ = now; match_start_time_ = now;