Work on spot scenario

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()

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\\\"')