From cd071647eb60ecac07ea74a556ba77315109911f Mon Sep 17 00:00:00 2001 From: ShotaAk Date: Tue, 29 Apr 2025 21:10:42 +0900 Subject: [PATCH 1/2] Use best effort communication to subscrible command --- frootspi_conductor/src/conductor_component.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/frootspi_conductor/src/conductor_component.cpp b/frootspi_conductor/src/conductor_component.cpp index ad68413..e011955 100644 --- a/frootspi_conductor/src/conductor_component.cpp +++ b/frootspi_conductor/src/conductor_component.cpp @@ -20,6 +20,7 @@ #include "frootspi_conductor/conductor_component.hpp" #include "rclcpp/rclcpp.hpp" +#include "rclcpp/qos.hpp" namespace frootspi_conductor { @@ -31,7 +32,9 @@ Conductor::Conductor(const rclcpp::NodeOptions & options) using namespace std::placeholders; // for _1, _2, _3... sub_command_ = create_subscription( - "command", 10, std::bind(&Conductor::callback_commands, this, _1)); + "command", + rclcpp::QoS(10).best_effort(), + std::bind(&Conductor::callback_commands, this, _1)); pub_target_velocity_ = create_publisher("target_velocity", 10); pub_dribble_power_ = create_publisher("dribble_power", 10); From 8d2598aeaf9a6ac124ffa6e5c74ef62e7d599668 Mon Sep 17 00:00:00 2001 From: ShotaAk Date: Tue, 29 Apr 2025 21:28:49 +0900 Subject: [PATCH 2/2] Fix for lint --- frootspi_hardware/src/kicker.cpp | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/frootspi_hardware/src/kicker.cpp b/frootspi_hardware/src/kicker.cpp index 2a5ca74..881308f 100644 --- a/frootspi_hardware/src/kicker.cpp +++ b/frootspi_hardware/src/kicker.cpp @@ -84,12 +84,19 @@ bool Kicker::kickStraight(uint32_t powerMmps) if (this->debug_mode_) {return false;} uint32_t sleep_time_usec; - if (powerMmps < 2000) sleep_time_usec = OPENTIME_1MS; - else if (powerMmps < 3000) sleep_time_usec = OPENTIME_2MS; - else if (powerMmps < 4000) sleep_time_usec = OPENTIME_3MS; - else if (powerMmps < 5000) sleep_time_usec = OPENTIME_4MS; - else if (powerMmps < 6000) sleep_time_usec = OPENTIME_5MS; - else sleep_time_usec = OPENTIME_6MS; + if (powerMmps < 2000) { + sleep_time_usec = OPENTIME_1MS; + } else if (powerMmps < 3000) { + sleep_time_usec = OPENTIME_2MS; + } else if (powerMmps < 4000) { + sleep_time_usec = OPENTIME_3MS; + } else if (powerMmps < 5000) { + sleep_time_usec = OPENTIME_4MS; + } else if (powerMmps < 6000) { + sleep_time_usec = OPENTIME_5MS; + } else { + sleep_time_usec = OPENTIME_6MS; + } if (sleep_time_usec > MAX_SLEEP_TIME_USEC_FOR_STRAIGHT) { sleep_time_usec = MAX_SLEEP_TIME_USEC_FOR_STRAIGHT;