modelec/modelec-marcel-ROS
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banner mission

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This commit is contained in:
acki
2025-05-30 07:28:10 -04:00
parent daf4d87e4c
commit f2d82e9adc
3 changed files with 17 additions and 13 deletions
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12
src/modelec_strat/data/obstacles.xml
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@@ -5,25 +5,25 @@
<Obstacle id="3" x="2150" y="1900" theta="1.5708" width="400" height="200" type="estrade"/>
<!-- Gradin TOP TO BOTTOM LEFT -->
<!--<Gradin id="10" x="825" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
<Gradin id="10" x="825" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
<Gradin id="11" x="75" y="1325" theta="0" width="400" height="100" type="gradin"/>
<Gradin id="12" x="1100" y="950" theta="1.5708" width="400" height="100" type="gradin" >
<possible-angle theta="-1.5708" />
</Gradin>
<Gradin id="13" x="75" y="400" theta="0" width="400" height="100" type="gradin"/>
<Gradin id="14" x="775" y="250" theta="1.5708" width="400" height="100" type="gradin"/>-->
<Gradin id="14" x="775" y="250" theta="1.5708" width="400" height="100" type="gradin"/>
<!-- Gradin TOP TO BOTTOM RIGHT -->
<!--<Gradin id="20" x="2175" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
<Gradin id="20" x="2175" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
<Gradin id="21" x="2925" y="1325" theta="3.1415" width="400" height="100" type="gradin"/>
<Gradin id="22" x="1900" y="950" theta="1.5708" width="400" height="100" type="gradin">
<possible-angle theta="-1.5708" />
</Gradin>
<Gradin id="23" x="2925" y="400" theta="3.1415" width="400" height="100" type="gradin"/>
<Gradin id="24" x="2225" y="250" theta="1.5708" width="400" height="100" type="gradin"/>-->
<Gradin id="24" x="2225" y="250" theta="1.5708" width="400" height="100" type="gradin"/>
<!-- PAMI Start -->
<!--<Obstacle id="30" x="75" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>
<Obstacle id="31" x="2925" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>-->
<Obstacle id="30" x="75" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>
<Obstacle id="31" x="2925" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>
</Obstacles>

2
src/modelec_strat/src/missions/banner_mission.cpp
View File

@@ -41,7 +41,7 @@ namespace Modelec
if (!nav_->HasArrived())
{
if ((node_->now() - go_timeout_).seconds() < 4)
if ((node_->now() - go_timeout_).seconds() < 10)
{
return;
}

16
src/modelec_strat/src/strat_fms.cpp
View File

@@ -155,16 +155,20 @@ namespace Modelec
{
auto elapsed = now - match_start_time_;
// TODO : next thing to upgrade to have a good strat
/*if (!is_banner_done_)
if (!is_banner_done_)
{
Transition(State::DO_PROMOTION, "Start promotion");
}*/
if (elapsed.seconds() >= 2)
}
else
{
Transition(State::STOP, "All missions done");
}
/*if (elapsed.seconds() >= 2)
{
Transition(State::DO_GO_HOME, "Go Home");
}
// TODO : check the time needed by the mission
}*/
/*else if (elapsed.seconds() < 70)
{
Transition(State::DO_PREPARE_CONCERT, "Proceed to concert");