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add x,y,theta arguments #21

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merged 2 commits into from
Sep 2, 2023
Merged

add x,y,theta arguments #21

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7cab246
add x,y,theta arguments
ijnek Sep 2, 2023
159dd77
alphabetical order
ijnek Sep 2, 2023
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1 change: 1 addition & 0 deletions include/rcss3d_nao/rcss3d_nao_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,7 @@ class Rcss3dNaoNode : public rclcpp::Node
rclcpp::Subscription<rcss3d_agent_msgs::msg::Beam>::SharedPtr beamSub;

void perceptCallback(const rcss3d_agent_msgs::msg::Percept & percept);
void beamToInitialPose(double x, double y, double theta);
};

} // namespace rcss3d_nao
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15 changes: 15 additions & 0 deletions src/rcss3d_nao_node.cpp
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Expand Up @@ -36,7 +36,10 @@ Rcss3dNaoNode::Rcss3dNaoNode(const rclcpp::NodeOptions & options)
std::string rcss3d_host = this->declare_parameter<std::string>("rcss3d/host", "127.0.0.1");
int rcss3d_port = this->declare_parameter<int>("rcss3d/port", 3100);
std::string team = this->declare_parameter<std::string>("team", "Anonymous");
double theta = this->declare_parameter<double>("theta", 0.0);
int unum = this->declare_parameter<int>("unum", 0);
double x = this->declare_parameter<double>("x", 0.0);
double y = this->declare_parameter<double>("y", 0.0);

// Create Rcss3dAgent
params = std::make_unique<rcss3d_agent::Params>(model, rcss3d_host, rcss3d_port, team, unum);
Expand Down Expand Up @@ -80,6 +83,9 @@ Rcss3dNaoNode::Rcss3dNaoNode(const rclcpp::NodeOptions & options)
[this](rcss3d_agent_msgs::msg::Beam::SharedPtr cmd) {
rcss3dAgent->sendBeam(*cmd);
});

// Beam robot
beamToInitialPose(x, y, theta);
}

Rcss3dNaoNode::~Rcss3dNaoNode()
Expand Down Expand Up @@ -172,6 +178,15 @@ void Rcss3dNaoNode::perceptCallback(const rcss3d_agent_msgs::msg::Percept & perc
}
}

void Rcss3dNaoNode::beamToInitialPose(double x, double y, double theta)
{
rcss3d_agent_msgs::msg::Beam beam;
beam.x = x;
beam.y = y;
beam.rot = theta;
rcss3dAgent->sendBeam(beam);
}

} // namespace rcss3d_nao

#include "rclcpp_components/register_node_macro.hpp"
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