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Use best effort to subscribe command #59

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Use best effort to subscribe command #59

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cd07164
Use best effort communication to subscrible command
ShotaAk Apr 29, 2025
8d2598a
Fix for lint
ShotaAk Apr 29, 2025
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5 changes: 4 additions & 1 deletion frootspi_conductor/src/conductor_component.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@

#include "frootspi_conductor/conductor_component.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/qos.hpp"

namespace frootspi_conductor
{
Expand All @@ -31,7 +32,9 @@ Conductor::Conductor(const rclcpp::NodeOptions & options)
using namespace std::placeholders; // for _1, _2, _3...

sub_command_ = create_subscription<RobotCommand>(
"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<geometry_msgs::msg::Twist>("target_velocity", 10);
pub_dribble_power_ = create_publisher<frootspi_msgs::msg::DribblePower>("dribble_power", 10);
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19 changes: 13 additions & 6 deletions frootspi_hardware/src/kicker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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