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PlaySwitcher内で前回コマンド遷移時の状態記録が抜けていたのを修正 #153

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Feb 20, 2024
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PlaySwitcher内で前回コマンド遷移時の状態記録が抜けていたのを修正 #153

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チューニング
HansRobo Feb 20, 2024
24ab7e4
PlaySwitcher内で前回コマンド遷移時の状態記録が抜けていたのを修正
HansRobo Feb 20, 2024
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4 changes: 2 additions & 2 deletions crane_bringup/launch/play_switcher.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,9 @@

<node pkg="crane_sender" exec="sim_sender_node" output="screen">
<param name="no_movement" value="false"/>
<param name="theta_kp" value="5.0"/>
<param name="theta_kp" value="3.0"/>
<param name="theta_ki" value="0.0"/>
<param name="theta_kd" value="1.0"/>
<param name="theta_kd" value="0.1"/>
</node>

<!-- <node pkg="crane_sender" exec="ibis_sender_node" output="screen">-->
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9 changes: 8 additions & 1 deletion crane_play_switcher/src/play_switcher.cpp
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Expand Up @@ -69,7 +69,7 @@
// TODO(HansRobo): robocup_ssl_msgs/msg/Refereeをもう少しわかりやすい形式にする必要あり
play_situation_msg.stage = msg.stage;

if (latest_raw_referee_command != msg.command) {

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comparison of integer expressions of different signedness: ‘int’ and ‘const _command_type’ {aka ‘const unsigned int’} [-Wsign-compare]
//-----------------------------------//
// NORMAL_START
//-----------------------------------//
Expand Down Expand Up @@ -132,7 +132,11 @@
play_situation_msg.command == PlaySituation::OUR_PENALTY_START) {
if (0.05 <= (last_command_changed_state.ball_position - world_model->ball.pos).norm()) {
next_play_situation = PlaySituation::INPLAY;
inplay_command_info.reason = "INPLAY判定：敵ボールが少なくとも0.05m動いた";
inplay_command_info.reason =
"INPLAY判定：敵ボールが少なくとも0.05m動いた(移動量: " +
std::to_string(
(last_command_changed_state.ball_position - world_model->ball.pos).norm()) +
"m)";
}
}

Expand Down Expand Up @@ -161,7 +165,7 @@
// コマンドが更新されているかを調べる
if (
next_play_situation != std::nullopt &&
next_play_situation.value() != play_situation_msg.command) {

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comparison of integer expressions of different signedness: ‘int’ and ‘crane_msgs::msg::PlaySituation_<std::allocator<void> >::_command_type’ {aka ‘unsigned int’} [-Wsign-compare]
play_situation_msg.command = next_play_situation.value();
play_situation_msg.reason_text = inplay_command_info.reason;
RCLCPP_INFO(get_logger(), "---");
Expand All @@ -175,6 +179,9 @@
RCLCPP_INFO(
get_logger(), "PREV_CMD_TIME: %f", (now() - last_command_changed_state.stamp).seconds());

last_command_changed_state.stamp = now();
last_command_changed_state.ball_position = world_model->ball.pos;

// パブリッシュはコマンド更新時のみ
play_situation_pub->publish(play_situation_msg);
}
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