SimpleAI内での最新メッセージ管理

ibis-ssl · Feb 21, 2024 · acf79d1 · acf79d1
1 parent 629f53e
commit acf79d1
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/crane_simple_ai/include/crane_commander.hpp b/crane_simple_ai/include/crane_commander.hpp
@@ -112,7 +112,7 @@ class ROSNode : public rclcpp::Node
       crane_msgs::msg::RobotCommands msg;
       msg.header = world_model->getMsg().header;
       msg.is_yellow = world_model->isYellow();
-      msg.robot_commands.push_back(commander->getMsg());
+      msg.robot_commands.push_back(latest_msg);
       publisher_robot_commands->publish(msg);
     });
   }
@@ -131,6 +131,8 @@ class ROSNode : public rclcpp::Node
 
   rclcpp::TimerBase::SharedPtr timer;
 
+  crane_msgs::msg::RobotCommand latest_msg;
+
   rclcpp::Publisher<crane_msgs::msg::RobotCommands>::SharedPtr publisher_robot_commands;
 
   rclcpp::Subscription<crane_msgs::msg::RobotFeedbackArray>::SharedPtr subscription_robot_feedback;