DuongTD/recovery_core
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

temporary storage 7/9/2026 20:41

Browse Source
This commit is contained in:
duongtd
2026-07-10 09:45:07 +07:00
parent 17088a227d
commit 89add78c7f
2 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
include/recovery_core/recovery_types.h
View File

@@ -76,8 +76,9 @@ struct RecoveryContext
*/ */
struct RecoveryGoal struct RecoveryGoal
{ {
double angle = 0.0; ///< rad — góc quay đích (họ rotate). 0 = dùng default plugin. double angle = 0.0; ///< rad — góc quay đích. 0 = dùng default plugin.
double distance = 0.0; ///< m — khoảng lùi đích (họ backup). 0 = dùng default plugin. double velocity = 0.0; ///< m/s — tốc độ di chuyển. 0 = dùng default plugin.
double distance = 0.0; ///< m — khoảng lùi đích. 0 = dùng default plugin.
robot_geometry_msgs::PoseStamped target_pose; ///< Pose đích (họ path/detour), tuỳ chọn. robot_geometry_msgs::PoseStamped target_pose; ///< Pose đích (họ path/detour), tuỳ chọn.
bool has_target_pose = false; ///< true nếu target_pose hợp lệ. bool has_target_pose = false; ///< true nếu target_pose hợp lệ.

1
test/plugin_loader_contract_test.cpp
View File

@@ -177,6 +177,7 @@ for(const auto& behavior : creators_)
goal.angle = 1.57079632679; goal.angle = 1.57079632679;
const recovery_core::RecoveryResult started = behavior->start(goal); const recovery_core::RecoveryResult started = behavior->start(goal);
expect(started.status == recovery_core::RecoveryStatus::kRunning, expect(started.status == recovery_core::RecoveryStatus::kRunning,
"rotate must be running right after start"); "rotate must be running right after start");