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Merge API branch into main #12

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SemvdH merged 334 commits from api into main 2023-06-13 19:54:43 +00:00
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src/drone_controls/src/PositionChanger.cpp
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@@ -275,7 +275,6 @@ public:
: (MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR]));
collision_prevention_weights[MOVE_DIRECTION_RIGHT] = this->move_direction_allowed[MOVE_DIRECTION_RIGHT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
RCLCPP_INFO(this->get_logger(), "Collision prevention weights: %f, %f, %f, %f", collision_prevention_weights[MOVE_DIRECTION_FRONT], collision_prevention_weights[MOVE_DIRECTION_LEFT], collision_prevention_weights[MOVE_DIRECTION_BACK], collision_prevention_weights[MOVE_DIRECTION_RIGHT]);
apply_collision_weights();
}