modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 17:14:30 -04:00
parent 1495733558
commit ef74927582
2 changed files with 3 additions and 3 deletions
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4
src/modelec_strat/src/enemy_manager.cpp
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@@ -219,7 +219,7 @@ namespace Modelec
last_enemy_pos_ = enemy_pos;
last_publish_time_ = this->now();
last_movement_time_ = this->now(); // Mise à jour du dernier vrai mouvement
// enemy_pos_pub_->publish(enemy_pos);
enemy_pos_pub_->publish(enemy_pos);
// RCLCPP_INFO(this->get_logger(), "Enemy moved: x=%f, y=%f", enemy_pos.x, enemy_pos.y);
}
else
@@ -227,7 +227,7 @@ namespace Modelec
auto now = this->now();
if ((now - last_movement_time_).seconds() > max_stationary_time_s_)
{
// enemy_long_time_pub_->publish(last_enemy_pos_);
enemy_long_time_pub_->publish(last_enemy_pos_);
/*RCLCPP_WARN(this->get_logger(), "Enemy has been stationary for too long at x=%f y=%f",
last_enemy_pos_.x, last_enemy_pos_.y);*/

2
src/modelec_strat/src/missions/test.go_home_mission.cpp
View File

@@ -20,7 +20,7 @@ namespace Modelec
auto curr = nav_->GetCurrentPos();
RCLCPP_INFO(node_->get_logger(), "GoHomeMission: Starting at position (%f, %f)", curr->x, curr->y);
nav_->GoTo(375, 1200, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
nav_->GoTo(375, 1000, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_home_time_ = node_->now();