オブジェクトの前に移動する関数を追加 #94
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Signed-off-by: Masaya Kataoka <[email protected]>
change source change yaml
Signed-off-by: Masaya Kataoka <[email protected]>
Signed-off-by: Masaya Kataoka <[email protected]>
…eature/go_object_waypoint
Signed-off-by: Masaya Kataoka <[email protected]>
Signed-off-by: Masaya Kataoka <[email protected]>
hakuturu583
requested changes
Jun 23, 2024
| rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr goal_pub_front_pose_of_object_; | ||
| geometry_msgs::msg::PoseStamped goal_; | ||
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| std::vector<robotx_behavior_msgs::msg::TaskObject> red_buoys_array_; |
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指定したオブジェクトの前に移動してほしいというActionなのでこの変数は不要かと思います。
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ゴール地点のtask_objectがあれば良いので、
robotx_behavior_msgs::msg::TaskObject target_object;みたいな型で情報を保存しておくのが望ましいと思います。
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| if (task_objects_array) { | ||
| red_buoys_array_ = filter(task_objects_array.value(), static_cast<short>(Buoy::BUOY_RED)); | ||
| } |
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何色のブイの前に行きたいかは状況次第なので、behavior treeの構造を決めるxmlから指示できるようにしておいてください。
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イメージとしてはこんな感じ
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<Action ID="MoveToFrontPoseOfObject" task_objects="{task_objects}" object_type="red_bouy"/>
</Sequence>
</BehaviorTree>
</root>
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こんな感じで書くと、xmlから値を読み込めます。
portの名前はxmlの設定と必ず一致させてください。
事前決めた文字列と異なる文字列が入っていた場合（今回だとred_bouyとかgreen_bouyとかtaskobjectの種類ではない文字列）エラーにしてください。
| <root main_tree_to_execute = "MainTree" > | ||
| <BehaviorTree ID="MainTree"> | ||
| <Sequence> | ||
| <Action ID="MoveToFrontPoseOfObject" task_objects="{task_objects}"/> |
move_to_front_pose_of_object.mp4 |
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