modelec/modelec-marcel-ROS
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spawn

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This commit is contained in:
acki
2025-11-19 19:11:25 +01:00
parent fe73a7130c
commit ac607b3726
2 changed files with 8 additions and 6 deletions
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10
src/modelec_strat/data/config.xml
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@@ -34,15 +34,17 @@
</map>
<home>
<blue x="2650" y="1600" theta="-1.5708"/>
<yellow x="350" y="1600" theta="-1.5708"/>
<!--<blue x="2650" y="1600" theta="-1.5708"/>
<yellow x="350" y="1600" theta="-1.5708"/>-->
<blue x="2650" y="1700" theta="1.5708"/>
<yellow x="350" y="1700" theta="1.5708"/>
</home>
<spawn>
<yellow>
<top x="375" y="1800" theta="-1.5708" />
<top x="350" y="1700" theta="1.5708" />
</yellow>
<blue>
<top x="2650" y="1700" theta="-1.5708" />
<top x="2650" y="1700" theta="1.5708" />
</blue>
<width_mm>450</width_mm>
<height_mm>450</height_mm>

4
src/modelec_strat/src/missions/take_send_mission.cpp
View File

@@ -10,7 +10,7 @@ namespace Modelec {
node_ = node;
nav_->GoToRotateFirst(2500, 1200, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
nav_->GoTo/*RotateFirst*/(2500, 1200, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_timeout_ = node_->now();
@@ -48,7 +48,7 @@ namespace Modelec {
break;
case WAIT_5S:
nav_->GoToRotateFirst(1900, 500, 0, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
nav_->GoTo/*RotateFirst*/(2000, 700, 0, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_TO_SEND;
break;