update ar docking#28
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nyxrobotics
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May 20, 2024
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| # charging_station_pose: [-0.290, -0.029, 0.000, 0.000, 0.000, -0.040, 0.999] | ||
| # charging_station_pose: [-1.683, -0.028, 0.000, 0.000, 0.000, 0.692, 0.722] |
| # charging_station_pose: [-0.290, -0.029, 0.000, 0.000, 0.000, -0.040, 0.999] | ||
| # charging_station_pose: [-1.683, -0.028, 0.000, 0.000, 0.000, 0.692, 0.722] | ||
| charging_station_pose: [-1.987, -0.543, 0.000, 0.000, 0.000, 0.714, 0.700] | ||
| # charging_station_pose: [-1.995, -0.318, 0.000, 0.000, 0.000, 0.705, 0.709] |
| undock_velocity: 0.1 #終わったあと離れる速さ | ||
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| # maker_fair_practice | ||
| charging_station_pose: [0.291, 0.071, 0.000, 0.000, 0.000, -0.014, 1.000] |
| ~ArDockingServer(); | ||
| // void currentCallback(const std_msgs::Float64::ConstPtr& msg); | ||
| // int isCharging(); | ||
| // void publish_tf_pregoal(std::vector<double>& pregoal); |
| </launch> No newline at end of file | ||
| <include file="$(find cube_petit_ar_docking)/launch/ar_action_client.launch"/> | ||
| <include file="$(find cube_petit_ar_docking)/launch/ar_tracking.launch"/> | ||
| <!-- <include file="$(find cube_speech)/launch/speech_server.launch"/> --> |
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| <!-- <node pkg="rostopic" type="rostopic" name="battery_remaining" args="pub -r 20 /gazebo_battery_monitor/battery_remaining std_msgs/Float64 9.0" output="screen" /> | ||
| <node pkg="rostopic" type="rostopic" name="battery_voltage" args="pub -r 20 /gazebo_battery_monitor/battery_voltage std_msgs/Float64 13.0" output="screen"/> | ||
| <node pkg="rostopic" type="rostopic" name="charge_current" args="pub -r 20 /gazebo_battery_monitor/charge_current std_msgs/Float64 1.0" output="screen"/> | ||
| --> |
| </node> | ||
| <include file="$(find cube_speech)/launch/speech_server.launch"/> | ||
| </node> | ||
| <!-- <include file="$(find cube_speech)/launch/speech_server.launch"/> --> |
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| Speech_Util::Speech_Util(ros::NodeHandle nh) | ||
| //speech_service(nh, "speech_service")//, boost::bind(&AR_Docking_Server::actionServerCallback, this, _1, &server), false), | ||
| //speech_service(nh, "speech_service")//, boost::bind(&ArDockingServer::actionServerCallback, this, _1, &server), false), |
| server_.start(); | ||
| ROS_INFO("ar_docking_server_start"); | ||
| // std::memset(current_data, 0.0, sizeof(current_data)); | ||
| // std::memset(current_data_, 0.0, sizeof(current_data_)); |
| // Pregoal_Broadcaster pregoal_broadcaster(nh); | ||
| void ArDockingServer::initialize(ros::NodeHandle nh){ | ||
| ROS_INFO("ArDockingServer::initialize"); | ||
| // Pregoal_Broadcaster pregoal_broadcaster_(nh); |
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Summary
自動充電の改修を行いました
Test