stabilize on position task#57
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| "runArgs": [ | ||
| "--network", "host", | ||
| "--device-cgroup-rule", "c *:* rmw", | ||
| "--device-cgroup-rule: 'c *:* rmw'", |
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Docker does not build on my setup
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U mnie nie działa ta konfiguracja wcześniejsza
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| from rclpy.node import Node | |||
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Why are we making another file that modifies mfsmc controller?
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Jest to eksperymentalna wersja, w której przepisałem troche inaczej tego MFSC i jeszcze nie wiem, którą ostatecznie wybieramy, to jest do obgadania i zobaczenia co będzie lepiej działało
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| import rclpy | |||
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Why can't we change actual node if the behavior is almost the same?
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Chciałem zostawić opcje wyboru między nową wersja a starą wersja MFSMC, więc z tego pwoodu są 2 pliku nodów
| def near_dist(self): | ||
| return self.get_parameter("near_dist").value | ||
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| def execute_callback(self, goal_handle): |
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parameters should have declared type. For example
goal_handle: str| while not (is_near and time.time() - near_start_time > self.near_time): | ||
| position = self.position_stabilization | ||
| att_rpy = self.rotation_stabilization | ||
| print(self.control_operations.position(), position) |
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we should always use ros2 logger instead of print
| action_type, | ||
| action_name: str, | ||
| timeout_sec: float = 30.0, | ||
| timeout_sec: Optional[float] = 30.0, |
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you should add import like this
from py_trees.behaviour import Behaviour
and use Behaviour class directly as parent of this class
| ).nanoseconds / 1e9 | ||
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| if elapsed > self.timeout_sec: | ||
| if self.timeout_sec is not None and elapsed > self.timeout_sec: |
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if self.timeout_sec and ... is fine
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| import time | |||
| from typing import Optional | |||
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all nodes should be in folder package_name/nodes
| ) | ||
| ) | ||
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| def generate_launch_description(): |
| rviz_timer = TimerAction(period=1.0, actions=[rviz_node]) | ||
| stonefish_timer = TimerAction(period=2.0, actions=[launch_include]) | ||
| traj_gen_timer = TimerAction(period=3.0, actions=[tf_traj_gen]) | ||
| tasks_timer = TimerAction(period=3.0, actions=[stabilize_on_position_action,stabilize_on_position_2_action, behavior_tree]) |
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| tasks_timer = TimerAction(period=3.0, actions=[stabilize_on_position_action,stabilize_on_position_2_action, behavior_tree]) | |
| tasks_timer = TimerAction(period=3.0, actions=[stabilize_on_position_action, stabilize_on_position_2_action, behavior_tree]) |
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Merging develop is required before merging |
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