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extended closest_acorn topic queue and set to keep_last

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Pimpest
2026-04-15 13:58:36 +02:00
parent 81ebd8b7a2
commit 4d4c598ce9
3 changed files with 4 additions and 4 deletions
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2
toid_behaviors/src/approach_acorns.cpp
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@@ -68,7 +68,7 @@ void ApproachAcorns::activateCB()
auto node = node_.lock(); auto node = node_.lock();
using namespace std::placeholders; using namespace std::placeholders;
acorn_pose_sub_ = node->create_subscription<PoseStamped>( acorn_pose_sub_ = node->create_subscription<PoseStamped>(
"closest_acorn", rclcpp::QoS(1), std::bind(&ApproachAcorns::acorn_position_cb, this, _1)); "closest_acorn", rclcpp::QoS(2), std::bind(&ApproachAcorns::acorn_position_cb, this, _1));
target_pose_pub_->on_activate(); target_pose_pub_->on_activate();
distance_ = 1.0; distance_ = 1.0;
} }

4
toid_behaviors/src/rotate_acorns.cpp
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@@ -29,7 +29,7 @@ void RotateAcorns::configureCB()
node->get_parameter(behavior_name_ + ".max_angular_accel", max_angular_accel_); node->get_parameter(behavior_name_ + ".max_angular_accel", max_angular_accel_);
nav2_util::declare_parameter_if_not_declared( nav2_util::declare_parameter_if_not_declared(
node, behavior_name_ + ".max_angular_decel", rclcpp::ParameterValue(4.0)); node, behavior_name_ + ".max_angular_decel", rclcpp::ParameterValue(1.0));
node->get_parameter(behavior_name_ + ".max_angular_decel", max_angular_decel_); node->get_parameter(behavior_name_ + ".max_angular_decel", max_angular_decel_);
nav2_util::declare_parameter_if_not_declared( nav2_util::declare_parameter_if_not_declared(
@@ -43,7 +43,7 @@ void RotateAcorns::activateCB()
auto node = node_.lock(); auto node = node_.lock();
using namespace std::placeholders; using namespace std::placeholders;
acorn_pose_sub_ = node->create_subscription<PoseStamped>( acorn_pose_sub_ = node->create_subscription<PoseStamped>(
"closest_acorn", rclcpp::QoS(1), std::bind(&RotateAcorns::acorn_position_cb, this, _1)); "closest_acorn", rclcpp::QoS(2), std::bind(&RotateAcorns::acorn_position_cb, this, _1));
distance_ = 1.0; distance_ = 1.0;
} }

2
toid_vision/src/toid_vision.cpp
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@@ -37,7 +37,7 @@ NutDetector::NutDetector(const rclcpp::NodeOptions & options)
RCLCPP_INFO(this->get_logger(), "NutDetector activated... scanning for DEEZ NUTZ"); RCLCPP_INFO(this->get_logger(), "NutDetector activated... scanning for DEEZ NUTZ");
pose_pub_ = pose_pub_ =
this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(1)); this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(5));
flip_pub_ = this->create_publisher<std_msgs::msg::String>("/to_flip", rclcpp::QoS(1)); flip_pub_ = this->create_publisher<std_msgs::msg::String>("/to_flip", rclcpp::QoS(1));
} }