[Garden] Port scan, dock, deliver - Part 1 #537
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
M1chaelM
approved these changes
Nov 18, 2022
| // Sanity check: Only one submission is allowed. | ||
| if (this->colorSequenceReceived) | ||
| { | ||
| gzerr << "The color sequence has already been submitted" << std::endl; |
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This does not seem to be displaying, despite the fact that the variable gets set to true in line 137, below. Maybe the problem is that the color checker gets disabled and stops listening for messages.
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It's a bit redundant because as you said, it's disabled when the first submission is processed.
vrx_gz/src/ScanDockScoringPlugin.cc
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| } | ||
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| // Sanity check: We should receive three colors. | ||
| if (_sequence.data_size() < 3u) |
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Currently, if we submit a sequence with more than 3 colors, it will just score the first three. I'm wondering if we should change < 3u to != 3u to also discard sequences that are too long.
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Sounds good to me. Changed in 558ef4d.
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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This pull request partially ports the
ScanDockScoringPluginfrom Gazebo classic. In particular, it ports the functionality related with the color sequence checker.How to test it?
/vrx/task/infotopic:runningstate (around 20 secs), and then, submit a correct color sequence. On a new terminal launch:Verify in your previous terminal that you get 10 points.