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acki
2025-05-29 17:34:16 -04:00
parent 3cc7cb3cf4
commit 257669e0e4
1 changed files with 10 additions and 6 deletions
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16
src/modelec_strat/src/navigation_helper.cpp
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@@ -577,14 +577,18 @@ namespace Modelec
void NavigationHelper::OnEnemyPositionClose(const modelec_interfaces::msg::OdometryPos::SharedPtr msg) void NavigationHelper::OnEnemyPositionClose(const modelec_interfaces::msg::OdometryPos::SharedPtr msg)
{ {
last_was_close_enemy_ = true;
pathfinding_->OnEnemyPosition(msg); if (!last_was_close_enemy_)
last_enemy_pos_ = *msg; {
last_was_close_enemy_ = true;
std_msgs::msg::Bool start_odo_msg; pathfinding_->OnEnemyPosition(msg);
start_odo_msg.data = false; last_enemy_pos_ = *msg;
start_odo_pub_->publish(start_odo_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) void NavigationHelper::OnEnemyPositionLongTime(const modelec_interfaces::msg::OdometryPos::SharedPtr msg)