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
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@@ -42,5 +42,6 @@ namespace Modelec
Point spawn_; Point spawn_;
rclcpp::Time deploy_time_; 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); nav_->GoTo(spawn_.x, 160, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_timeout_ = node_->now();
status_ = MissionStatus::RUNNING; status_ = MissionStatus::RUNNING;
} }
@@ -37,9 +39,12 @@ namespace Modelec
return; return;
} }
if (!nav_->HasArrived()) if (!nav_->HasArrived() && (node_->now() - go_timeout_).seconds() < 2)
{ {
return; if ((node_->now() - go_timeout_).seconds() < 4)
{
return;
}
} }
switch (step_) switch (step_)
@@ -74,6 +79,7 @@ namespace Modelec
case UNDEPLOY_BANNER: 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); nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 550, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_FORWARD; step_ = GO_FORWARD;