Magnezijum-Robotics/magrob
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First set of behaviors

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Pimpest
2025-05-08 12:10:13 +02:00
parent da3d1d9d15
commit bce371dba2
13 changed files with 710 additions and 105 deletions
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2
mg_planner/src/mg_planner_node.cpp
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@ -17,7 +17,6 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {
"GeneratePath",
[this](mg_msgs::srv::CalcPath::Request::ConstSharedPtr req,
mg_msgs::srv::CalcPath::Response::SharedPtr resp) -> void {
std::cout << "Bro recieved request\n";
auto elapsed = get_clock()->now();
std::vector<glm::ivec2> goals;
std::transform(req->x.begin(),
@ -38,7 +37,6 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {
mg_msgs::msg::Path path;
path.indicies = std::vector<int>(resp->indicies);
path_pub_->publish(path);
RCLCPP_INFO(get_logger(), "Handled request in %lf seconds", (get_clock()->now() - elapsed).seconds());
});
path_pub_ = create_publisher<mg_msgs::msg::Path>("/GeneratedPath", rclcpp::QoS(4).keep_last(2));