From 002bbdc7f7c0a48c7e10fa838da2147280f94189 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Tue, 19 Sep 2023 11:15:51 +0200
Subject: [PATCH] Work on spot scenario
---
lrs_exec/scenario_handler.py | 18 +++++++++++++++---
tmux/op.tmux | 4 ++--
2 files changed, 17 insertions(+), 5 deletions(-)
diff --git a/lrs_exec/scenario_handler.py b/lrs_exec/scenario_handler.py
index 8bcbacc..5537de2 100644
--- a/lrs_exec/scenario_handler.py
+++ b/lrs_exec/scenario_handler.py
@@ -45,13 +45,19 @@ class ScenarioHandler(Node):
self.declare_parameter("fake", False)
self.fake = self.get_parameter('fake').get_parameter_value().bool_value
+ self.declare_parameter("drop", False)
+ self.drop_flag = self.get_parameter('drop').get_parameter_value().bool_value
+
+ self.declare_parameter("search", False)
+ self.search_flag = self.get_parameter('search').get_parameter_value().bool_value
+
self.real_salient_points = []
self.salient_points = {}
self.handled_salient_points = {}
self.packages = {}
- self.have_dropped = False
- self.have_added_search = False
+ self.have_dropped = True
+ self.have_added_search = True
self.n_packages_in_bucket = {}
self.n_object_detections = 0
@@ -202,7 +208,7 @@ class ScenarioHandler(Node):
if self.fake:
self.check_fake()
- self.check_restart_failed()
+ ## self.check_restart_failed()
n_medicine_pkgs = -1
if "medicine" in self.packages:
@@ -370,6 +376,12 @@ def main(args=None):
#node.add_search_to_queue()
#return
+ if node.search_flag:
+ node.add_search_to_queue ()
+
+ if node.drop_flag:
+ node.add_to_drop_queue(26.0, 1.0, 20)
+
try:
print('Hi from scenario handler. SPINNING!')
executor.spin()
diff --git a/tmux/op.tmux b/tmux/op.tmux
index 240f408..bdf6cbc 100755
--- a/tmux/op.tmux
+++ b/tmux/op.tmux
@@ -100,10 +100,10 @@ def main_unit(ns):
if options.spot:
ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=deliver -p team_command:=set-team -p args:=\\\"spot0\\\"')
ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=search -p team_command:=set-team -p args:=\\\"dji5\\\"')
- ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=drop -p team_command:=set-team -p args:=\\\"dji11\\\"')
+ ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=drop -p team_command:=set-team -p args:=\\\"dji17\\\"')
else:
ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=searchsurface -p team_command:=set-team -p args:=\\\"Piraya14 Manta\\\"')
- ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=searchair -p team_command:=set-team -p args:=\\\"dji5\\\"')
+ ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=searchair -p team_command:=set-team -p args:=\\\"dji8\\\"')
ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=examine -p team_command:=set-team -p args:=\\\"MiniUSV1 MiniUSV2 MiniUSV3 MiniUSV4\\\"')
ros2("create_team", f'ros2 run lrs_team team_command --ros-args -r __ns:={ns} -p team_name:=sup -p team_command:=set-team -p args:=\\\"expand\\\"')
--
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