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add waiting on first lidar message

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Sem van der Hoeven
2023-06-05 17:04:57 +02:00
parent 4916584e13
commit c967eea3f2
1 changed files with 11 additions and 2 deletions
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13
src/drone_controls/src/PositionChanger.cpp
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@@ -262,7 +262,11 @@ public:
enable_failsafe(u"No healthy connection to LIDAR!");
}
this->received_lidar_message = false;
this->lidar_health_checks++;
this->has_received_first_lidar_message = true;
if (this->lidar_health_checks <= 10)
{
this->lidar_health_checks++;
}
}
/**
@@ -292,6 +296,10 @@ public:
{
if (!this->failsafe_enabled)
{
if (!this->has_received_first_lidar_message) {
this->enable_failsafe(u"Waiting for LIDAR timed out! Consider restarting the drone.");
return;
}
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);
if (request->angle > 360 || request->angle < -360)
{
@@ -367,7 +375,8 @@ private:
float collision_prevention_weights[4] = {0}; // the amount to move away from an object in a certain direction if the drone is too close
bool failsafe_enabled = false;
bool received_lidar_message = false;
char lidar_health_checks = 0;
int lidar_health_checks = 0;
bool has_received_first_lidar_message = false;
/**
* @brief waits for a service to be available