lyq/sweeper_200
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

删除DetectLine相关

Browse Source
This commit is contained in:
lyq 2026-01-27 10:22:50 +08:00
parent 20b6002099
commit 853d0155fe
1 changed files with 0 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/autonomy/fu/src/fu_node.cpp
View File

@ -13,7 +13,6 @@
#include "logger/logger.h" #include "logger/logger.h"
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "sweeper_interfaces/msg/can_frame.hpp" #include "sweeper_interfaces/msg/can_frame.hpp"
#include "sweeper_interfaces/msg/detect_line.hpp"
#include "sweeper_interfaces/msg/fu.hpp" #include "sweeper_interfaces/msg/fu.hpp"
#include "sweeper_interfaces/msg/mc_ctrl.hpp" #include "sweeper_interfaces/msg/mc_ctrl.hpp"
#include "sweeper_interfaces/msg/pl.hpp" #include "sweeper_interfaces/msg/pl.hpp"
@ -71,8 +70,6 @@ class fu_node : public rclcpp::Node
msg_subscribe_pl = this->create_subscription<sweeper_interfaces::msg::Pl>( msg_subscribe_pl = this->create_subscription<sweeper_interfaces::msg::Pl>(
"pl_message", 10, std::bind(&fu_node::msg_callback_pl, this, std::placeholders::_1)); "pl_message", 10, std::bind(&fu_node::msg_callback_pl, this, std::placeholders::_1));
msg_subscribe_DetectLine = this->create_subscription<sweeper_interfaces::msg::DetectLine>(
"airy_message", 10, std::bind(&fu_node::msg_callback_DetectLine, this, std::placeholders::_1));
// 发布控制指令 // 发布控制指令
pub_mc = this->create_publisher<sweeper_interfaces::msg::McCtrl>("auto_mc_ctrl", 10); pub_mc = this->create_publisher<sweeper_interfaces::msg::McCtrl>("auto_mc_ctrl", 10);
@ -291,7 +288,6 @@ class fu_node : public rclcpp::Node
// 声明订阅者和发布者 // 声明订阅者和发布者
rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscription_grid; rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscription_grid;
rclcpp::Subscription<sweeper_interfaces::msg::Pl>::SharedPtr msg_subscribe_pl; rclcpp::Subscription<sweeper_interfaces::msg::Pl>::SharedPtr msg_subscribe_pl;
rclcpp::Subscription<sweeper_interfaces::msg::DetectLine>::SharedPtr msg_subscribe_DetectLine;
rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_; rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_;
rclcpp::Publisher<sweeper_interfaces::msg::McCtrl>::SharedPtr pub_mc; rclcpp::Publisher<sweeper_interfaces::msg::McCtrl>::SharedPtr pub_mc;
@ -754,12 +750,6 @@ class fu_node : public rclcpp::Node
LOG_INFO("目标点位置： x -- %.2f , y -- %.2f", x, y); LOG_INFO("目标点位置： x -- %.2f , y -- %.2f", x, y);
} }
void msg_callback_DetectLine(const sweeper_interfaces::msg::DetectLine::SharedPtr msg)
{
nl_adjust = 0 - msg->adjust + remain_adjust;
detected_line = msg->detected_line;
}
void timer_callback() void timer_callback()
{ {
if (speed == 0) if (speed == 0)