doubled wall spacing #2282
doubled wall spacing #2282
Conversation
|
|
|
Evidence of topic publish: |
|
Feedback: |
jacksherling
force-pushed
the
aiden-lee/robocup-sw-tutorial
branch
from
d149f07 to
17f1f1d
Compare
| std::string Runner::get_current_state() { return "Runner"; } | ||
|
|
||
| bool inPosition(rj_geometry::Point current, rj_geometry::Point target, double tolerance) { | ||
| return current.dist_to(target) < tolerance; |
There was a problem hiding this comment.
take a look at the check_is_done function. When the plan succeeds it returns true. This way thresholding for plans is abstracted away from strategy
| return std::nullopt; | ||
| } | ||
|
|
||
| bool Runner::shot_on_goal_detected(WorldState* world_state) { |
There was a problem hiding this comment.
Looks like you left some extra stuff from another position here
| IDLING, // doing nothing | ||
| BLOCKING, // blocking the ball from reaching the goal | ||
| CLEARING, // clearing the ball out of the goal box | ||
| PREPARING_SHOT, // pivot around ball in preparation for shot |
There was a problem hiding this comment.
Similar to above, let's remove stuff not used for runner
|
|
||
| team_fruit_pub_ = create_publisher<std_msgs::msg::String>("/team_fruit", rclcpp::QoS(10)); | ||
|
|
||
| if (blue_team) { |
There was a problem hiding this comment.
I think this work is already done in the subscription
| referee::topics::kTeamColorTopic, rclcpp::QoS(1).transient_local(), | ||
| [this](rj_msgs::msg::TeamColor::SharedPtr color) { // NOLINT | ||
| team_fruit_pub_ = | ||
| create_publisher<std_msgs::msg::String>("/team_fruit", rclcpp::QoS(10)); |
There was a problem hiding this comment.
why create a new publisher on every subscription callback?
| rclcpp::TimerBase::SharedPtr tick_timer_; | ||
|
|
||
| // The position of each robot | ||
| std::array<strategy::Positions, kNumShells> positions_; |
There was a problem hiding this comment.
Let's remove the unused variables here
Completes RC SW Tutorials.