From 257669e0e46cdb5d4487ec9a2171a0d952966650 Mon Sep 17 00:00:00 2001 From: acki Date: Thu, 29 May 2025 17:34:16 -0400 Subject: [PATCH] log --- src/modelec_strat/src/navigation_helper.cpp | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp index 682cfcf..544e782 100644 --- a/src/modelec_strat/src/navigation_helper.cpp +++ b/src/modelec_strat/src/navigation_helper.cpp @@ -577,14 +577,18 @@ namespace Modelec void NavigationHelper::OnEnemyPositionClose(const modelec_interfaces::msg::OdometryPos::SharedPtr msg) { - last_was_close_enemy_ = true; - pathfinding_->OnEnemyPosition(msg); - last_enemy_pos_ = *msg; + if (!last_was_close_enemy_) + { + last_was_close_enemy_ = true; - std_msgs::msg::Bool start_odo_msg; - start_odo_msg.data = false; - start_odo_pub_->publish(start_odo_msg); + pathfinding_->OnEnemyPosition(msg); + last_enemy_pos_ = *msg; + + std_msgs::msg::Bool start_odo_msg; + start_odo_msg.data = false; + start_odo_pub_->publish(start_odo_msg); + } } void NavigationHelper::OnEnemyPositionLongTime(const modelec_interfaces::msg::OdometryPos::SharedPtr msg)