modelec/modelec-marcel-ROS
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timeout

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This commit is contained in:
acki
2025-05-29 16:36:52 -04:00
parent 6c4378ba8c
commit 75e683ba0c
2 changed files with 9 additions and 2 deletions
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1
src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
View File

@@ -42,5 +42,6 @@ namespace Modelec
Point spawn_;
rclcpp::Time deploy_time_;
rclcpp::Time go_timeout_;
};
}

10
src/modelec_strat/src/missions/banner_mission.cpp
View File

@@ -22,6 +22,8 @@ namespace Modelec
nav_->GoTo(spawn_.x, 160, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_timeout_ = node_->now();
status_ = MissionStatus::RUNNING;
}
@@ -37,9 +39,12 @@ namespace Modelec
return;
}
if (!nav_->HasArrived())
if (!nav_->HasArrived() && (node_->now() - go_timeout_).seconds() < 2)
{
return;
if ((node_->now() - go_timeout_).seconds() < 4)
{
return;
}
}
switch (step_)
@@ -74,6 +79,7 @@ namespace Modelec
case UNDEPLOY_BANNER:
{
go_timeout_ = node_->now();
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 550, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_FORWARD;