modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 18:26:36 -04:00
parent 760453c928
commit 394e07845b
2 changed files with 13 additions and 1 deletions
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2
src/modelec_strat/include/modelec_strat/enemy_manager.hpp
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@@ -52,5 +52,7 @@ namespace Modelec
float robot_length_ = 0;
double robot_radius_ = 0;
float min_emergency_distance_ = 0.0f;
bool verify_ = false;
};
}

12
src/modelec_strat/src/enemy_manager.cpp
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@@ -61,6 +61,11 @@ namespace Modelec
{
game_stated_ = true;
}
if (game_stated_ && msg->state == modelec_interfaces::msg::StratState::STOP)
{
game_stated_ = false;
}
});
enemy_long_time_pub_ = this->create_publisher<modelec_interfaces::msg::OdometryPos>(
@@ -84,6 +89,11 @@ namespace Modelec
void EnemyManager::OnLidarData(const sensor_msgs::msg::LaserScan::SharedPtr msg)
{
if (!game_stated_)
{
return;
}
is_enemy_close_ = false;
if (std::isnan(current_pos_.x) || std::isnan(current_pos_.y))
@@ -243,7 +253,7 @@ namespace Modelec
void EnemyManager::TimerCallback()
{
if (!enemy_initialized_)
if (!enemy_initialized_ || !game_stated_)
return;
rclcpp::Duration duration_since_last = this->now() - last_publish_time_;