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Fixed Moving average for acorn approach

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This commit is contained in:
Pimpest
2026-04-13 18:26:17 +02:00
parent 6d3794d154
commit 6a8d7176f4
3 changed files with 20 additions and 18 deletions
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2
toid_behaviors/include/toid_behaviors/approach_acorns.hpp
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@@ -53,7 +53,7 @@ protected:
rclcpp::Subscription<PoseStamped>::SharedPtr acorn_pose_sub_;
rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::Marker>::SharedPtr target_pose_pub_;
std::shared_mutex mutex_;
RollingAverage avg_ = RollingAverage(5);
RollingAverage avg_ = RollingAverage(10);
//Goal
geometry_msgs::msg::Pose new_target_pose_;

4
toid_behaviors/include/toid_behaviors/rolling_average.hpp
View File

@@ -18,10 +18,10 @@ public:
Pose2D push(geometry_msgs::msg::Pose & pose)
{
if(size_ > 0) {
if(size_ == 0) {
return {};
}
if (size_ == data_count_) {
if (size_-1 == data_count_) {
accum_x_ -= poses_[front_idx_].position.x;
accum_y_ -= poses_[front_idx_].position.y;
accum_theta_ -= tf2::getYaw(poses_[front_idx_].orientation);

22
toid_behaviors/src/approach_acorns.cpp
View File

@@ -111,11 +111,22 @@ void ApproachAcorns::acorn_position_cb(PoseStamped::ConstSharedPtr msg)
tf2::convert(tf2::Quaternion::createFromRPY(0,0,yaw ), pose_global.pose.orientation);
yaw = angles::normalize_angle(yaw);
std::lock_guard _lock(mutex_);
auto[a,b,c] = avg_.push(pose_global.pose);
distance_ = x * x + y * y;
new_target_pose_.position.x = a;
new_target_pose_.position.y = b;
tf2::convert(tf2::Quaternion::createFromRPY(0,0, c), new_target_pose_.orientation);
new_target_angle_ = c;
if(debug_marker_) {
visualization_msgs::msg::Marker marker;
marker.lifetime.sec = 1.0;
marker.header = pose_global.header;
marker.pose = pose_global.pose;
marker.pose = new_target_pose_;
marker.type = visualization_msgs::msg::Marker::ARROW;
marker.scale.x = 0.02;
marker.scale.y = 0.02;
@@ -127,15 +138,6 @@ void ApproachAcorns::acorn_position_cb(PoseStamped::ConstSharedPtr msg)
target_pose_pub_->publish(marker);
}
yaw = angles::normalize_angle(yaw);
std::lock_guard _lock(mutex_);
auto[a,b,c] = avg_.push(pose_global.pose);
distance_ = x * x + y * y;
new_target_pose_.position.x = a;
new_target_pose_.position.y = b;
tf2::convert(tf2::Quaternion::createFromRPY(0,0, c), new_target_pose_.orientation);
new_target_angle_ = c;
}
ResultStatus ApproachAcorns::onStart(