modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 17:07:16 -04:00
parent ce0aaaaf94
commit 670eaf1efa
2 changed files with 3 additions and 2 deletions
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4
src/modelec_strat/src/missions/test.go_home_mission.cpp
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@@ -20,7 +20,7 @@ namespace Modelec
auto curr = nav_->GetCurrentPos(); auto curr = nav_->GetCurrentPos();
RCLCPP_INFO(node_->get_logger(), "GoHomeMission: Starting at position (%f, %f)", curr->x, curr->y); RCLCPP_INFO(node_->get_logger(), "GoHomeMission: Starting at position (%f, %f)", curr->x, curr->y);
nav_->GoTo(375, 1600, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE); nav_->GoTo(375, 1900, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_home_time_ = node_->now(); go_home_time_ = node_->now();
@@ -43,7 +43,7 @@ namespace Modelec
case AWAIT_10S: case AWAIT_10S:
{ {
nav_->GoTo(370, 1400, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE); nav_->GoTo(370, 1600, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_HOME; step_ = GO_HOME;
} }

1
src/modelec_strat/src/pathfinding.cpp
View File

@@ -301,6 +301,7 @@ namespace Modelec
goal_x >= grid_width_ || goal_y >= grid_height_) goal_x >= grid_width_ || goal_y >= grid_height_)
{ {
RCLCPP_WARN(node_->get_logger(), "Start or Goal out of bounds"); RCLCPP_WARN(node_->get_logger(), "Start or Goal out of bounds");
RCLCPP_WARN(node_->get_logger(), "Start: (%d, %d), Goal: (%d, %d)", start_x, start_y, goal_x, goal_y);
return {-2, waypoints}; return {-2, waypoints};
} }