From b3cc18de36c36cf7f074efb8b49d93816a4a573a Mon Sep 17 00:00:00 2001 From: acki Date: Thu, 29 May 2025 06:52:27 -0400 Subject: [PATCH] up --- src/modelec_strat/src/strat_fms.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp index 9026c2b..58f7adc 100644 --- a/src/modelec_strat/src/strat_fms.cpp +++ b/src/modelec_strat/src/strat_fms.cpp @@ -30,10 +30,6 @@ namespace Modelec spawn_id_sub_ = create_subscription( "/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( @@ -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;