lyq/sweeper_200
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调整优先级

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lyq 2026-01-12 11:23:25 +08:00
parent cf5a698eb9
commit d5b01517a0
1 changed files with 8 additions and 6 deletions
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14
src/control/ctrl_arbiter/src/ctrl_arbiter.cpp
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@ -64,12 +64,7 @@ private:
RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using RADIO control"); RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using RADIO control");
return; return;
} }
if (auto_valid_ && (now - auto_last_time_).nanoseconds() < timeout_ms_ * 1000000)
{
publisher_->publish(auto_msg_);
RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using AUTO control");
return;
}
if (remote_valid_ && (now - remote_last_time_).nanoseconds() < timeout_ms_ * 1000000) if (remote_valid_ && (now - remote_last_time_).nanoseconds() < timeout_ms_ * 1000000)
{ {
publisher_->publish(remote_msg_); publisher_->publish(remote_msg_);
@ -77,6 +72,13 @@ private:
return; return;
} }
if (auto_valid_ && (now - auto_last_time_).nanoseconds() < timeout_ms_ * 1000000)
{
publisher_->publish(auto_msg_);
RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using AUTO control");
return;
}
// 所有控制源均失联，发布安全默认指令 // 所有控制源均失联，发布安全默认指令
sweeperMsg::McCtrl safe_msg; sweeperMsg::McCtrl safe_msg;
safe_msg.brake = 1; safe_msg.brake = 1;