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wip-behaviors #3

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Pimpest merged 86 commits from wip-behaviors into main 2026-05-28 06:21:26 +00:00
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12
scripts/idi.sh
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@@ -16,6 +16,10 @@ if [[ $# -ge 2 ]]; then
SMER="$2" SMER="$2"
fi fi
if [[ $# -ge 3 ]]; then
MIN_ROT="$(echo "$3*a(1)/45" | bc -l)"
fi
source install/setup.bash source install/setup.bash
case $TARGET in case $TARGET in
@@ -29,9 +33,17 @@ case $TARGET in
"pravo") "pravo")
ros2 action send_goal /translateX toid_msgs/action/SimpleTranslateX "distance: ${SMER:-0.3}" ros2 action send_goal /translateX toid_msgs/action/SimpleTranslateX "distance: ${SMER:-0.3}"
;; ;;
"rotiraj")
SMER="$(echo "$SMER*a(1)/45" | bc -l)"
echo $SMER
ros2 action send_goal /rotate toid_msgs/action/SimpleRotate "
angle: ${SMER:-0.3}
min_angle: ${MIN_ROT:-0.0}"
;;
"stani") "stani")
ros2 service call /moveCoords/_action/cancel_goal action_msgs/srv/CancelGoal & ros2 service call /moveCoords/_action/cancel_goal action_msgs/srv/CancelGoal &
ros2 service call /translateX/_action/cancel_goal action_msgs/srv/CancelGoal & ros2 service call /translateX/_action/cancel_goal action_msgs/srv/CancelGoal &
ros2 service call /rotate/_action/cancel_goal action_msgs/srv/CancelGoal &
wait wait
;; ;;
*) *)