modelec/modelec-marcel-ROS
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some fix

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This commit is contained in:
acki
2025-05-15 19:36:30 -04:00
parent d00958756e
commit f0e2ba0531
2 changed files with 9 additions and 8 deletions
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1
src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
View File

@@ -37,5 +37,6 @@ namespace Modelec
rclcpp::Node::SharedPtr node_;
rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
int mission_score_ = 0;
Point spawn_;
};
}

16
src/modelec_strat/src/missions/banner_mission.cpp
View File

@@ -18,6 +18,8 @@ namespace Modelec
score_pub_ = node_->create_publisher<std_msgs::msg::Int64>("/strat/score", 10);
spawn_ = nav_->GetSpawn();
action_executor_->DeployBanner();
status_ = MissionStatus::RUNNING;
@@ -34,23 +36,21 @@ namespace Modelec
switch (step_)
{
case DEPLOY_BANNER:
{
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
auto spawn = nav_->GetSpawn();
step_ = DEPLOY_BANNER;
}
nav_->GoTo(spawn.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = DEPLOY_BANNER;
break;
case GO_TO_FRONT:
{
auto spawn = nav_->GetSpawn();
nav_->GoTo(spawn.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 150, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 150, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_FORWARD;
break;
}
break;
case GO_FORWARD:
{
std_msgs::msg::Int64 msg;