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Add gimbal_buff_error_tolerance when tracking buff #231

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merged 9 commits into from
Jul 18, 2024
Merged

Add gimbal_buff_error_tolerance when tracking buff #231

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f85e140
Add gimbal_buff_error when tracking buff.
liyixin135 Jul 10, 2024
abe2ccf
Modift something unreasonable.
liyixin135 Jul 10, 2024
fcd4b9b
Modify something wrong.
liyixin135 Jul 10, 2024
8904f4b
Merge branch 'master' into dif_tolerance
liyixin135 Jul 11, 2024
df36619
Modify for clean.
liyixin135 Jul 11, 2024
9aaf324
Modify wrong id.
liyixin135 Jul 15, 2024
20efc7c
Modify param's name.
liyixin135 Jul 17, 2024
592b2cc
Merge branch 'master' into dif_tolerance
liyixin135 Jul 18, 2024
110df27
Modify code position for clean.
liyixin135 Jul 18, 2024
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11 changes: 7 additions & 4 deletions rm_common/include/rm_common/decision/command_sender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -356,13 +356,14 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
nh.getParam("wheel_speed_18", wheel_speed_18_);
nh.getParam("wheel_speed_30", wheel_speed_30_);
nh.param("extra_wheel_speed_once", extra_wheel_speed_once_, 0.);
if (!nh.getParam("gimbal_error_tolerance", gimbal_error_tolerance_))
ROS_ERROR("gimbal error tolerance no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("target_acceleration_tolerance", target_acceleration_tolerance_))
{
target_acceleration_tolerance_ = 0.;
ROS_INFO("target_acceleration_tolerance no defined(namespace: %s), set to zero.", nh.getNamespace().c_str());
}
if (!nh.getParam("track_armor_error_tolerance", track_armor_error_tolerance_))
ROS_ERROR("track armor error tolerance no defined (namespace: %s)", nh.getNamespace().c_str());
nh.param("track_buff_error_tolerance", track_buff_error_tolerance_, track_armor_error_tolerance_);
}
~ShooterCommandSender()
{
Expand Down Expand Up @@ -409,7 +410,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
return;
}
}
if (((gimbal_des_error_.error > gimbal_error_tolerance_ && time - gimbal_des_error_.stamp < ros::Duration(0.1)) ||
double gimbal_error_tolerance = track_data_.id == 12 ? track_buff_error_tolerance_ : track_armor_error_tolerance_;
if (((gimbal_des_error_.error > gimbal_error_tolerance && time - gimbal_des_error_.stamp < ros::Duration(0.1)) ||
(track_data_.accel > target_acceleration_tolerance_)) ||
(!suggest_fire_.data && armor_type_ == rm_msgs::StatusChangeRequest::ARMOR_OUTPOST_BASE))
if (msg_.mode == rm_msgs::ShootCmd::PUSH)
Expand Down Expand Up @@ -494,7 +496,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
double speed_10_{}, speed_15_{}, speed_16_{}, speed_18_{}, speed_30_{}, speed_des_{};
double wheel_speed_10_{}, wheel_speed_15_{}, wheel_speed_16_{}, wheel_speed_18_{}, wheel_speed_30_{},
wheel_speed_des_{};
double gimbal_error_tolerance_{};
double track_armor_error_tolerance_{};
double track_buff_error_tolerance_{};
double target_acceleration_tolerance_{};
double extra_wheel_speed_once_{};
double total_extra_wheel_speed_{};
Expand Down
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