modelec/modelec-marcel-ROS
1
0
Fork 0
mirror of https://github.com/modelec/modelec-marcel-ROS.git synced 2026-03-18 21:50:36 +01:00
Code Issues Packages Projects Releases Wiki Activity

no min time

Browse Source
This commit is contained in:
acki
2026-03-18 16:53:58 +01:00
parent f89c7ecb1d
commit a9f4f9baf6
4 changed files with 4 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/modelec_strat/include/modelec_strat/missions/free_mission.hpp
View File

@@ -5,7 +5,7 @@
#include <modelec_strat/missions/min_time_mission.hpp>
namespace Modelec {
class FreeMission : public ActionMission, public MoveMission, public MinTimeMission {
class FreeMission : public ActionMission, public MoveMission {
public:
FreeMission(const std::shared_ptr<NavigationHelper>& nav,
const std::shared_ptr<ActionExecutor>& action_executor,

2
src/modelec_strat/include/modelec_strat/missions/take_mission.hpp
View File

@@ -5,7 +5,7 @@
#include <modelec_strat/missions/move_mission.hpp>
namespace Modelec {
class TakeMission : public MinTimeMission, public ActionMission, public MoveMission {
class TakeMission : public ActionMission, public MoveMission {
public:
TakeMission(const std::shared_ptr<NavigationHelper>& nav,
const std::shared_ptr<ActionExecutor>& action_executor,

7
src/modelec_strat/src/missions/free_mission.cpp
View File

@@ -14,7 +14,6 @@ namespace Modelec {
{
ActionMission::Start(node);
MoveMission::Start(node);
MinTimeMission::Start(node);
status_ = MissionStatus::RUNNING;
@@ -34,7 +33,7 @@ namespace Modelec {
bool FreeMission::Update()
{
if (!ActionMission::Update() || !MoveMission::Update() || !MinTimeMission::Update())
if (!ActionMission::Update() || !MoveMission::Update())
{
return false;
}
@@ -128,8 +127,6 @@ namespace Modelec {
action_executor_->Free(servo);
deploy_time_ = node_->now();
min_time_ = node_->now() + rclcpp::Duration::from_seconds(1);
}
break;
case ROTATE_ARM:
@@ -142,8 +139,6 @@ namespace Modelec {
{
action_executor_->Free({{0, side_}, {1, side_}, {2, side_}, {3, side_}});
deploy_time_ = node_->now();
min_time_ = node_->now() + rclcpp::Duration::from_seconds(1);
}
break;
case UP:

6
src/modelec_strat/src/missions/take_mission.cpp
View File

@@ -14,7 +14,6 @@ namespace Modelec {
{
ActionMission::Start(node);
MoveMission::Start(node);
MinTimeMission::Start(node);
status_ = MissionStatus::RUNNING;
@@ -31,7 +30,7 @@ namespace Modelec {
bool TakeMission::Update()
{
if (!ActionMission::Update() || !MoveMission::Update() || !MinTimeMission::Update())
if (!ActionMission::Update() || !MoveMission::Update())
{
return false;
}
@@ -57,8 +56,6 @@ namespace Modelec {
auto pos = closestBox->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();
pos.theta = Point::normalizeAngle(pos.theta + (side_ == BaseAction::FRONT ? 0 : M_PI));
// TODO the robot do not go to the exact position i would like it to go to the exact so he can go forward after to take the box in a good way
if (nav_->GoToRotateFirst(pos, false, Pathfinding::FREE, side_ == BaseAction::FRONT) != Pathfinding::FREE)
{
if (nav_->GoToRotateFirst(pos, true, Pathfinding::FREE, side_ == BaseAction::FRONT) != Pathfinding::FREE)
@@ -105,7 +102,6 @@ namespace Modelec {
{
action_executor_->Take({{0, side_}, {1, side_}, {2, side_}, {3, side_}});
deploy_time_ = node_->now();
min_time_ = node_->now() + rclcpp::Duration::from_seconds(0.5);
}
break;
case UP: