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Ackimixsmodelec-bot
Ackimixs
and
modelec-bot
authored
Dynamic strat BackFront (#27)
Co-authored-by: Modelec <modelec.isen@gmail.com>
1 parent 083a303 commit e00a040

30 files changed

Lines changed: 456 additions & 160 deletions

‎fastdds_setup.xml‎

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<!-- End repeat -->
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<locator>
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<udpv4>
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<address>100.113.219.4</address> <!-- ackimixs -->
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<address>100.84.205.108</address> <!-- ackimixs -->
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</udpv4>
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</locator>
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<locator>

‎joy.ros2_launch_marcel.desktop‎

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Type=Application
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Name=Joy
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Comment=Lance le système ROS 2 avec GUI
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Exec=/home/modelec/modelec-marcel-ROS/start_ros2.sh
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Exec=/home/modelec/Modelec-ROS2/start_ros2.sh
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Icon=utilities-terminal
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Terminal=true
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Categories=Utility;

‎no_lidar.joy.ros2_launch_marcel.desktop‎

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Type=Application
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Name=Joy no Lidar
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Comment=Lance le système ROS 2 avec GUI
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Exec=/home/modelec/modelec-marcel-ROS/start_ros2.sh with_rplidar:=false
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Exec=/home/modelec/Modelec-ROS2/start_ros2.sh with_rplidar:=false
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Icon=utilities-terminal
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Terminal=true
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Categories=Utility;

‎no_lidar.ros2_launch_marcel.desktop‎

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Type=Application
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Name=No Lidar
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Comment=Lance le système ROS 2 avec GUI
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Exec=/home/modelec/modelec-marcel-ROS/start_ros2.sh with_joy:=false with_rplidar:=false
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Exec=/home/modelec/Modelec-ROS2/start_ros2.sh with_joy:=false with_rplidar:=false
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Icon=utilities-terminal
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Terminal=true
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Categories=Utility;

‎ros2_launch_marcel.desktop‎

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Type=Application
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Name=Lancer ROS 2
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Comment=Lance le système ROS 2 avec GUI
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Exec=/home/modelec/modelec-marcel-ROS/start_ros2.sh with_joy:=false
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Exec=/home/modelec/Modelec-ROS2/start_ros2.sh with_joy:=false
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Icon=utilities-terminal
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Terminal=true
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Categories=Utility;

‎src/modelec_com/src/pcb_action_interface.cpp‎

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relay_move_res_pub_->publish(relay_msg);
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}
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else if (tokens[1] == "TIR")
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{
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// Do nothing for now
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}
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else
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{
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RCLCPP_WARN(this->get_logger(), "Unknown message format for OK response: '%s'", trim(msg).c_str());

‎src/modelec_strat/data/obstacles.xml‎

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@@ -18,7 +18,7 @@
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<possible-angle theta="-1.5708" />
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</Box>
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<Box id="22" x="2825" y="400" theta="3.1415" width="200" height="150" type="box"/>
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<Box id="23" x="1900" y="175" theta="-1.5708" width="200" height="150" type="box"/>
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<Box id="23" x="1900" y="175" theta="1.5708" width="200" height="150" type="box"/>
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<!-- PAMI Start -->
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<Obstacle id="30" x="75" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>

‎src/modelec_strat/include/modelec_strat/action/free_action.hpp‎

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@@ -9,20 +9,20 @@ namespace Modelec
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{
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public:
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor);
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n);
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::pair<int, bool> servo);
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::vector<std::pair<int, bool>> servos);
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, Front front, int n);
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::pair<int, Front> servo);
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FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::vector<std::pair<int, Front>> servos);
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void Next() override;
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void Init(const std::vector<std::string>& params) override;
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void AddServo(int id, bool front);
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void AddServo(std::pair<int, bool> servo);
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void AddServos(const std::vector<std::pair<int, bool>>& servos);
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void AddServo(int id, Front front);
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void AddServo(std::pair<int, Front> servo);
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void AddServos(const std::vector<std::pair<int, Front>>& servos);
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inline static const std::string Name = ActionExec::FREE;
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private:
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std::vector<std::pair<int, bool>> servos_;
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std::vector<std::pair<int, Front>> servos_;
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std::queue<int> steps_;
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‎src/modelec_strat/include/modelec_strat/action/take_action.hpp‎

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{
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public:
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor);
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n);
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::pair<int, bool> servo);
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::vector<std::pair<int, bool>> servos);
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, Front front, int n);
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::pair<int, Front> servo);
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TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, std::vector<std::pair<int, Front>> servos);
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void Next() override;
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void Init(const std::vector<std::string>& params) override;
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void AddServo(int id, bool front);
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void AddServo(std::pair<int, bool> servo);
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void AddServos(const std::vector<std::pair<int, bool>>& servos);
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void AddServo(int id, Front front);
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void AddServo(std::pair<int, Front> servo);
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void AddServos(const std::vector<std::pair<int, Front>>& servos);
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inline static const std::string Name = ActionExec::TAKE;
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private:
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std::vector<std::pair<int, bool>> servos_;
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std::vector<std::pair<int, Front>> servos_;
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std::queue<int> steps_;
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‎src/modelec_strat/include/modelec_strat/action_executor.hpp‎

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@@ -35,16 +35,28 @@ namespace Modelec
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void Up(BaseAction::Front front, bool force = false);
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void Take(std::vector<std::pair<int, bool>> servos, bool force = false);
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void Take(const std::vector<std::pair<int, BaseAction::Front>>& servos, bool force = false);
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40-
void Free(std::vector<std::pair<int, bool>> servos, bool force = false);
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void Free(const std::vector<std::pair<int, BaseAction::Front>>& servos, bool force = false);
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void MoveServoTimed(const modelec_interfaces::msg::ActionServoTimedArray& msg);
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void MoveServo(const modelec_interfaces::msg::ActionServoPosArray& msg);
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std::array<std::shared_ptr<BoxObstacle>, 2> box_obstacles_;
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48+
bool IsEmpty() const;
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bool IsFull() const;
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bool HasBox(BaseAction::Front front) const;
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bool HasFrontBox() const;
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bool HasBackBox() const;
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bool HasOneBox() const;
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protected:
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rclcpp::Publisher<modelec_interfaces::msg::ActionAscPos>::SharedPtr asc_move_pub_;
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rclcpp::Publisher<modelec_interfaces::msg::ActionServoPosArray>::SharedPtr servo_move_pub_;

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