modelec/modelec-marcel-ROS
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acki
2025-05-29 20:25:29 -04:00
parent 867fbf9c23
commit a6b7632345
2 changed files with 5 additions and 4 deletions
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7
src/modelec_strat/src/enemy_manager.cpp
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@@ -72,7 +72,7 @@ namespace Modelec
"/enemy/long_time", 10);
timer_ = this->create_wall_timer(
std::chrono::seconds(1),
std::chrono::nanoseconds(static_cast<int>(refresh_rate_s_ )),
[this]()
{
TimerCallback();
@@ -113,8 +113,7 @@ namespace Modelec
double best_x = 0.0;
double best_y = 0.0;
RCLCPP_INFO(this->get_logger(), "Processing Lidar min %f | %f | %f", msg->range_min, msg->range_max,
msg->ranges[1]);
// RCLCPP_INFO(this->get_logger(), "Processing Lidar min %f | %f | %f", msg->range_min, msg->range_max, msg->ranges[1]);
// RCLCPP_INFO(this->get_logger(), "Robot pos %f | %f | %f", robot_x, robot_y, robot_theta);
for (size_t i = 0; i < msg->ranges.size(); ++i)
@@ -262,7 +261,7 @@ namespace Modelec
{
enemy_pos_pub_->publish(last_enemy_pos_);
last_publish_time_ = this->now();
// RCLCPP_INFO(this->get_logger(), "Periodic refresh of enemy position");
RCLCPP_INFO(this->get_logger(), "Periodic refresh of enemy position");
}
}
}

2
src/modelec_strat/src/navigation_helper.cpp
View File

@@ -553,6 +553,8 @@ namespace Modelec
if (Point::distance(Point(msg->x, msg->y, msg->theta), Point(current_pos_->x, current_pos_->y, current_pos_->theta)) < 600)
{
RCLCPP_INFO(node_->get_logger(), "Enemy is close, stopping odometry...");
std_msgs::msg::Bool start_odo_msg;
start_odo_msg.data = false;
start_odo_pub_->publish(start_odo_msg);