modelec/modelec-marcel-ROS
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set start false when quitting so no more log

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This commit is contained in:
acki
2025-10-15 15:10:19 +02:00
parent 66782cb292
commit 958f36c3a1
2 changed files with 2 additions and 32 deletions
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2
src/modelec_com/src/pcb_odo_interface.cpp
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@@ -144,6 +144,8 @@ namespace Modelec
PCBOdoInterface::~PCBOdoInterface() PCBOdoInterface::~PCBOdoInterface()
{ {
SetStart(false);
if (pcb_executor_) if (pcb_executor_)
{ {
pcb_executor_->cancel(); pcb_executor_->cancel();

32
src/modelec_strat/src/enemy_manager.cpp
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@@ -102,8 +102,6 @@ namespace Modelec
return; return;
} }
is_enemy_close_ = false;
if (std::isnan(current_pos_.x) || std::isnan(current_pos_.y)) if (std::isnan(current_pos_.x) || std::isnan(current_pos_.y))
{ {
RCLCPP_WARN(this->get_logger(), "Current robot position unknown, cannot compute enemy position"); RCLCPP_WARN(this->get_logger(), "Current robot position unknown, cannot compute enemy position");
@@ -145,34 +143,6 @@ namespace Modelec
continue; continue;
} }
// EMERGENCY detection: obstacle very close but not the robot itself
/*if (range_mm < min_emergency_distance_)
{
// Convert to local robot frame
double x_local = range * std::cos(angle) * 1000.0; // meters -> mm
double y_local = range * std::sin(angle) * 1000.0; // meters -> mm
// Rotate + translate into global frame
double x_global = robot_x + (x_local * std::cos(robot_theta) - y_local * std::sin(robot_theta));
double y_global = robot_y + (x_local * std::sin(robot_theta) + y_local * std::cos(robot_theta));
// Check if in bounds
if (x_global >= 0 && x_global <= (map_width_ - margin_detection_table_) && y_global >= 0 && y_global <=
(map_height_ - margin_detection_table_))
{
modelec_interfaces::msg::OdometryPos emergency_msg;
emergency_msg.x = x_global;
emergency_msg.y = y_global;
emergency_msg.theta = 0.0;
close_enemy_pos_pub_->publish(emergency_msg);
RCLCPP_WARN(this->get_logger(), "EMERGENCY CLOSE OBJECT DETECTED at x=%.2f y=%.2f (%.1f mm)",
x_global, y_global, range_mm);
// return;
}
}*/
// Convert to local robot frame // Convert to local robot frame
double x_local = range * std::cos(angle) * 1000.0; // meters -> mm double x_local = range * std::cos(angle) * 1000.0; // meters -> mm
double y_local = range * std::sin(angle) * 1000.0; // meters -> mm double y_local = range * std::sin(angle) * 1000.0; // meters -> mm
@@ -205,8 +175,6 @@ namespace Modelec
if (min_distance < std::numeric_limits<double>::max()) if (min_distance < std::numeric_limits<double>::max())
{ {
if (is_enemy_close_) return;
modelec_interfaces::msg::OdometryPos enemy_pos; modelec_interfaces::msg::OdometryPos enemy_pos;
enemy_pos.x = best_x; enemy_pos.x = best_x;
enemy_pos.y = best_y; enemy_pos.y = best_y;