From f16f168347e9dd4621f731a31bed8e67141a64e6 Mon Sep 17 00:00:00 2001 From: acki Date: Fri, 30 May 2025 07:50:14 -0400 Subject: [PATCH] patch + log --- src/modelec_com/src/pcb_odo_interface.cpp | 2 +- src/modelec_strat/src/missions/banner_mission.cpp | 2 +- src/modelec_strat/src/strat_fms.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp index a0fde01..f8bc0b1 100644 --- a/src/modelec_com/src/pcb_odo_interface.cpp +++ b/src/modelec_com/src/pcb_odo_interface.cpp @@ -221,7 +221,7 @@ namespace Modelec void PCBOdoInterface::PCBCallback(const std_msgs::msg::String::SharedPtr msg) { - RCLCPP_INFO(this->get_logger(), "Received from PCB: %s", msg->data.c_str()); + RCLCPP_DEBUG(this->get_logger(), "Received from PCB: %s", msg->data.c_str()); std::vector tokens = split(trim(msg->data), ';'); if (tokens.size() < 2) { diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp index ae3e59f..d534f2c 100644 --- a/src/modelec_strat/src/missions/banner_mission.cpp +++ b/src/modelec_strat/src/missions/banner_mission.cpp @@ -80,7 +80,7 @@ namespace Modelec case UNDEPLOY_BANNER: { go_timeout_ = node_->now(); - nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 550, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE); + nav_->GoTo(spawn_.x, 500, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE); step_ = GO_FORWARD; } diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp index 7ebbbea..920e45d 100644 --- a/src/modelec_strat/src/strat_fms.cpp +++ b/src/modelec_strat/src/strat_fms.cpp @@ -159,7 +159,7 @@ namespace Modelec { Transition(State::DO_PROMOTION, "Start promotion"); } - else + else if (elapsed.seconds() >= 100) { Transition(State::STOP, "All missions done"); }