modelec/modelec-marcel-ROS
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await 90 sec

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This commit is contained in:
acki
2025-05-30 05:52:45 -04:00
parent dd0968fa38
commit 6fed7a33da
2 changed files with 8 additions and 6 deletions
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2
src/modelec_strat/include/modelec_strat/missions/go_home_mission.hpp
View File

@@ -21,7 +21,7 @@ namespace Modelec
enum Step
{
GO_FRONT,
AWAIT_10S,
AWAIT_95S,
GO_HOME,
DONE
} step_;

12
src/modelec_strat/src/missions/test.go_home_mission.cpp
View File

@@ -20,7 +20,8 @@ namespace Modelec
auto curr = nav_->GetCurrentPos();
RCLCPP_INFO(node_->get_logger(), "GoHomeMission: Starting at position (%f, %f)", curr->x, curr->y);
nav_->GoTo(375, 700, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
auto spawn_pos = nav_->GetSpawn();
nav_->GoTo(spawn_pos.x, 1300, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_home_time_ = node_->now();
@@ -38,17 +39,18 @@ namespace Modelec
{
case GO_FRONT:
{
if ((node_->now() - go_home_time_).seconds() >= 10)
if ((node_->now() - go_home_time_).seconds() >= 95)
{
step_ = AWAIT_10S;
step_ = AWAIT_95S;
}
}
break;
case AWAIT_10S:
case AWAIT_95S:
{
nav_->GoTo(375, 1500, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
auto spawn_pos = nav_->GetSpawn();
nav_->GoTo(spawn_pos.x, 1500, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_HOME;
}