From 6741b49f572958d73b51c15b7761c554995ab1e2 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Wed, 18 Dec 2024 13:39:15 +0000
Subject: [PATCH] Changed topic to just different one for start node in call
mode .
---
App/RobobinApp/Views/MainPage.xaml.cs | 5 +++++
App/RobobinApp/Views/MainPage_Android.xaml.cs | 5 +++++
ros2/src/robobin/robobin/uwb_navigation_node.py | 7 ++++---
ros2/src/robobin/robobin/uwb_pathing_node.py | 2 +-
4 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/App/RobobinApp/Views/MainPage.xaml.cs b/App/RobobinApp/Views/MainPage.xaml.cs
index 0f7f925b..533e36ad 100644
--- a/App/RobobinApp/Views/MainPage.xaml.cs
+++ b/App/RobobinApp/Views/MainPage.xaml.cs
@@ -52,6 +52,11 @@ namespace RobobinApp.Views
private void OnGraphicsViewTapped(object sender, TappedEventArgs e)
{
+ if (App.WifiManager.Mode != "Call")
+ {
+ DisplayAlert("NO CALL","Bin must be in call mode to use this feature!","Sorry!");
+ return;
+ }
var tapPoint = e.GetPosition(GraphicsView);
var drawable = (GraphicsDrawable)Resources["drawable"];
diff --git a/App/RobobinApp/Views/MainPage_Android.xaml.cs b/App/RobobinApp/Views/MainPage_Android.xaml.cs
index 99c1a14f..f7059f40 100644
--- a/App/RobobinApp/Views/MainPage_Android.xaml.cs
+++ b/App/RobobinApp/Views/MainPage_Android.xaml.cs
@@ -26,6 +26,11 @@ namespace RobobinApp.Views
private void OnGraphicsViewTapped(object sender, TappedEventArgs e)
{
+ if (App.WifiManager.Mode != "Call")
+ {
+ DisplayAlert("NO CALL", "Bin must be in call mode to use this feature!", "Sorry!");
+ return;
+ }
var tapPoint = e.GetPosition(GraphicsView);
var drawable = (GraphicsDrawable)Resources["drawable"];
diff --git a/ros2/src/robobin/robobin/uwb_navigation_node.py b/ros2/src/robobin/robobin/uwb_navigation_node.py
index 5972d856..56ff5210 100644
--- a/ros2/src/robobin/robobin/uwb_navigation_node.py
+++ b/ros2/src/robobin/robobin/uwb_navigation_node.py
@@ -66,6 +66,7 @@ class UWBNode(Node):
super().__init__('uwb_navigation_node')
self.publisher = self.create_publisher(Point, '/tag1_location', 10)
+ self.start_publisher = self.create_publisher(Point, '/start_location', 10)
self.target_location_pub = self.create_publisher(Point, '/target_location', 10)
self.api_pub = self.create_publisher(String, '/api_command', 10)
@@ -167,9 +168,9 @@ class UWBNode(Node):
# Extract yaw from quaternion using transforms3d
orientation_q = msg.orientation
orientation_list = [orientation_q.w, orientation_q.x, orientation_q.y, orientation_q.z]
- roll, pitch, yaw = quat2euler(orientation_list) # Converts quaternion to Euler angles
+ # roll, pitch, yaw = quat2euler(orientation_list) # Converts quaternion to Euler angles
- self.current_yaw = yaw # Update current yaw
+ self.current_yaw = 0 # Update current yaw
# self.get_logger().info(f"IMU Yaw: {yaw:.2f} radians")
def determine_anchor_coords(self, measured_distances):
@@ -304,7 +305,7 @@ class UWBNode(Node):
# Publish current position
position_msg = Point(x=self.current_tag1_position[0], y=self.current_tag1_position[1], z=0.0)
- self.publisher.publish(position_msg)
+ self.start_publisher.publish(position_msg)
# Publish target position
target_msg = Point(x=target_pos[0], y=target_pos[1], z=0.0)
diff --git a/ros2/src/robobin/robobin/uwb_pathing_node.py b/ros2/src/robobin/robobin/uwb_pathing_node.py
index 6c432442..dec8b955 100644
--- a/ros2/src/robobin/robobin/uwb_pathing_node.py
+++ b/ros2/src/robobin/robobin/uwb_pathing_node.py
@@ -13,7 +13,7 @@ class UWBPathingNode(Node):
self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
# Subscriptions
- self.create_subscription(Point, '/tag1_location', self.current_location_callback, 10)
+ self.create_subscription(Point, '/start_location', self.current_location_callback, 10)
self.create_subscription(Point, '/target_location', self.target_location_callback, 10)
# Current and target positions
--
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