modelec/modelec-marcel-ROS
1
0
Fork 0
mirror of https://github.com/modelec/modelec-marcel-ROS.git synced 2026-01-18 16:47:43 +01:00
Code Issues Packages Projects Releases Wiki Activity

banner

Browse Source
This commit is contained in:
acki
2025-05-28 18:48:32 -04:00
parent 20f037a1f9
commit 6e52b596bd
2 changed files with 9 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
View File

@@ -25,8 +25,8 @@ namespace Modelec
enum Step
{
DEPLOY_BANNER,
GO_TO_FRONT,
DEPLOY_BANNER,
GO_FORWARD,
DONE
} step_;

14
src/modelec_strat/src/missions/banner_mission.cpp
View File

@@ -5,7 +5,7 @@
namespace Modelec
{
BannerMission::BannerMission(const std::shared_ptr<NavigationHelper>& nav,
const std::shared_ptr<ActionExecutor>& action_executor) : step_(DEPLOY_BANNER),
const std::shared_ptr<ActionExecutor>& action_executor) : step_(GO_TO_FRONT),
status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor)
{
}
@@ -20,7 +20,7 @@ namespace Modelec
spawn_ = nav_->GetSpawn();
action_executor_->DeployBanner();
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
status_ = MissionStatus::RUNNING;
}
@@ -44,22 +44,24 @@ namespace Modelec
switch (step_)
{
case DEPLOY_BANNER:
case GO_TO_FRONT:
{
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
action_executor_->DeployBanner();
step_ = GO_TO_FRONT;
step_ = DEPLOY_BANNER;
}
break;
case GO_TO_FRONT:
case DEPLOY_BANNER:
{
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 600, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_FORWARD;
}
break;
case GO_FORWARD:
{
std_msgs::msg::Int64 msg;