modelec/modelec-marcel-ROS
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acki
2025-05-29 18:10:52 -04:00
parent 159aaf46b5
commit 35380e5fae
1 changed files with 6 additions and 4 deletions
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10
src/modelec_strat/src/navigation_helper.cpp
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@@ -553,10 +553,13 @@ namespace Modelec
if (last_was_close_enemy_)
{
RCLCPP_INFO(node_->get_logger(), "Enemy was close try to replanning...");
if (Replan(false))
if (Point::distance(Point(msg->x, msg->y, msg->theta), Point(current_pos_->x, current_pos_->y, current_pos_->theta)) > 400)
{
last_was_close_enemy_ = false;
RCLCPP_INFO(node_->get_logger(), "Enemy was close try to replanning...");
if (Replan(false))
{
last_was_close_enemy_ = false;
}
}
return;
@@ -597,7 +600,6 @@ namespace Modelec
waypoints_.emplace_back(w);
// SendWaypoint();
SendGoTo();
}
}