modelec/modelec-marcel-ROS
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ask pos

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This commit is contained in:
acki
2025-05-29 14:32:33 -04:00
parent 95e06bb4e4
commit 9451d1db7f
2 changed files with 9 additions and 2 deletions
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1
src/modelec_strat/include/modelec_strat/navigation_helper.hpp
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@@ -160,6 +160,7 @@ namespace Modelec
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr ask_spawn_srv_;
rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr odo_get_pos_pub_;
rclcpp::Time last_odo_get_pos_time_;
};
}

10
src/modelec_strat/src/navigation_helper.cpp
View File

@@ -105,6 +105,8 @@ namespace Modelec
odo_get_pos_pub_ = node_->create_publisher<std_msgs::msg::Empty>(
"odometry/get/pos", 30);
last_odo_get_pos_time_ = node_->now();
}
void NavigationHelper::ReInit()
@@ -129,8 +131,12 @@ namespace Modelec
void NavigationHelper::Update()
{
std_msgs::msg::Empty empty_msg;
odo_get_pos_pub_->publish(empty_msg);
if ((node_->now() - last_odo_get_pos_time_).seconds() > 0.5)
{
std_msgs::msg::Empty empty_msg;
odo_get_pos_pub_->publish(empty_msg);
last_odo_get_pos_time_ = node_->now();
}
}
void NavigationHelper::SendGoTo()