modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 06:52:27 -04:00
parent e31a5a70b9
commit b3cc18de36
1 changed files with 7 additions and 5 deletions
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12
src/modelec_strat/src/strat_fms.cpp
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@@ -30,10 +30,6 @@ namespace Modelec
spawn_id_sub_ = create_subscription<modelec_interfaces::msg::Spawn>(
"/strat/spawn", 10, [this](const modelec_interfaces::msg::Spawn::SharedPtr msg)
{
std_msgs::msg::Bool start_odo_msg;
start_odo_msg.data = true;
start_odo_pub_->publish(start_odo_msg);
std_msgs::msg::Bool tir_msg;
tir_msg.data = true;
tir_arm_set_pub_->publish(tir_msg);
@@ -41,7 +37,6 @@ namespace Modelec
team_selected_ = true;
team_id_ = msg->team_id;
nav_->SetTeamId(team_id_);
nav_->SetSpawn(msg->name);
});
reset_strat_sub_ = create_subscription<std_msgs::msg::Empty>(
@@ -135,6 +130,13 @@ namespace Modelec
case State::WAIT_START:
if (started_)
{
std_msgs::msg::Bool start_odo_msg;
start_odo_msg.data = true;
start_odo_pub_->publish(start_odo_msg);
nav_->SetSpawn(modelec_interfaces::msg::Spawn::BOTTOM);
match_start_time_ = now;
std_msgs::msg::Int64 msg;