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graph tuning and sdk topic fix

This commit is contained in:
David St-Onge 2017-08-31 16:17:27 -04:00
parent a745de8f31
commit 2fbefb219b
2 changed files with 4 additions and 4 deletions
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6
buzz_scripts/graphform.bzz
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@ -17,7 +17,7 @@ ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER
ROOT_ID = 2 ROOT_ID = 2
# max velocity in cm/step # max velocity in cm/step
ROBOT_MAXVEL = 250.0 ROBOT_MAXVEL = 150.0
# #
# Global variables # Global variables
@ -776,8 +776,8 @@ function init() {
# #
m_unResponseTimeThreshold=10 m_unResponseTimeThreshold=10
m_unLabelSearchWaitTime=10 m_unLabelSearchWaitTime=10
m_fTargetDistanceTolerance=50 m_fTargetDistanceTolerance=150
m_fTargetAngleTolerance=0.1 m_fTargetAngleTolerance=0.2
m_unJoiningLostPeriod=100 m_unJoiningLostPeriod=100
# #

2
src/roscontroller.cpp
View File

@ -1092,7 +1092,7 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr &msg) {
gps_rb(nei_pos, cvt_neighbours_pos_payload); gps_rb(nei_pos, cvt_neighbours_pos_payload);
/*Extract robot id of the neighbour*/ /*Extract robot id of the neighbour*/
uint16_t *out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + 3)); uint16_t *out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + 3));
//ROS_WARN("RAB of %i: %f, %f", (int)out[1], cvt_neighbours_pos_payload[0], cvt_neighbours_pos_payload[1]); ROS_WARN("RAB of %i: %f, %f", (int)out[1], cvt_neighbours_pos_payload[0], cvt_neighbours_pos_payload[1]);
/*pass neighbour position to local maintaner*/ /*pass neighbour position to local maintaner*/
buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0], buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],
cvt_neighbours_pos_payload[1], cvt_neighbours_pos_payload[1],