Merge pull request #42 from dawan0111/feature/md

update md
dawan0111 · Aug 26, 2023 · 57ef681 · 57ef681
2 parents ff02568 + 66b0fd2
commit 57ef681
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Showing 5 changed files with 19 additions and 14 deletions.
diff --git a/BehaviorTree.CPP b/BehaviorTree.CPP
diff --git a/md/src/main.cpp b/md/src/main.cpp
@@ -329,7 +329,7 @@ void cmdVelCallBack(const geometry_msgs::msg::Twist::SharedPtr keyVel) // from t
     if (fgInitsetting == INIT_SETTING_STATE_OK) {
         velCmdUpdateCount++;
 
-        goal_cmd_speed = keyVel->linear.x;
+        goal_cmd_speed = keyVel->linear.x * -1;
         goal_cmd_ang_speed = keyVel->angular.z;
     }
     return;

diff --git a/vision_opencv b/vision_opencv
diff --git a/yacyac_camera/param/camera.yaml b/yacyac_camera/param/camera.yaml
@@ -1,11 +1,12 @@
 camera_param:
-  top_camera:
-    node_name: yacyac_top_camera
-    device: /dev/video0
-    topic_name: /yacyac_top_camera
-    frame_width: 640
-    frame_height: 480
-  qr:
-    node_name: yacyac_qr_detector
-    camera_topic_name: /yacyac_top_camera
-    topic_name: /qr_node
+  ros__parameters:
+    top_camera:
+      node_name: yacyac_top_camera
+      device: /dev/video0
+      topic_name: /yacyac_top_camera
+      frame_width: 640
+      frame_height: 480
+    qr:
+      node_name: yacyac_qr_detector
+      camera_topic_name: /yacyac_top_camera
+      topic_name: /qr_node
diff --git a/yacyac_core/bt_xml/bt_nav_yac_supply.xml b/yacyac_core/bt_xml/bt_nav_yac_supply.xml
@@ -19,11 +19,11 @@
                          output_key="Goal_b"/>
           <SetBlackboard value="-1.588;1.253;0.0;1.0"
                          output_key="Goal_c"/>
-          <SetBlackboard value="6;0;0;0;0;0;0;0"
+          <SetBlackboard value="0;2;0;0;0;1;0;1"
                          output_key="yac_a"/>
-          <SetBlackboard value="0;0;0;0;6;0;0;0"
+          <SetBlackboard value="2;0;3;0;1;0;0;0"
                          output_key="yac_b"/>
-          <SetBlackboard value="0;0;0;0;0;0;6;0"
+          <SetBlackboard value="1;0;0;2;0;2;0;1"
                          output_key="yac_c"/>
 
             <ForceSuccess>
@@ -39,6 +39,7 @@
               <Sequence>
                 <!-- <Nav2Client goal="{Goal_b}"/> -->
                 <QRClient />
+                <SupplyAcceptClient />
                 <YacSupplyCilent goal="{yac_b}"/>
               </Sequence>
             </ForceSuccess>
@@ -47,6 +48,7 @@
               <Sequence>
                 <!-- <Nav2Client goal="{Goal_c}"/> -->
                 <QRClient />
+                <SupplyAcceptClient />
                 <YacSupplyCilent goal="{yac_c}"/>
               </Sequence>
             </ForceSuccess>