Added support for setting max velocities on send_goal

2026-03-07 12:32:34 +01:00
parent 5777a0e804
commit 77cb2c5573
6 changed files with 24 additions and 1 deletions
--- a/toid_behaviors/src/simple_translate_x.cpp
+++ b/toid_behaviors/src/simple_translate_x.cpp
@@ -46,6 +46,12 @@ ResultStatus SimpleTranslateXBehavior::onStart(
  target_distance_ = command->distance;
  target_angle_ = tf2::getYaw(pose.orientation);
  target_sign_ = (target_distance_ < 0) ? -1.0 : 1.0;
+  max_vel_speed_ = command->max_speed;
+
+  if(command->max_speed == 0) {
+    auto node = node_.lock();
+    node->get_parameter(behavior_name_ + ".max_vel_speed", max_vel_speed_);
+  }

  target_distance_ *= target_sign_;