Modify chassis_gimbal_shooter_manual logic - #150
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…l_aaa # Conflicts: # include/rm_manual/chassis_gimbal_shooter_manual.h # src/chassis_gimbal_shooter_manual.cpp
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Pull request overview
Updates the manual control logic for the chassis/gimbal/shooter stack by adding ballistic-solver integration, wheel-online safety handling, and new keybindings/service triggers to better coordinate deploy/aim/fire behavior.
Changes:
- Added subscriptions and state for ballistic solution + wheel online status, plus a wheel-offline gating check.
- Introduced new command senders/services (active suspension, ballistic solver request, relocate) and new keyboard actions (e.g., Ctrl+C, Q).
- Simplified/adjusted deploy/TRAJ behavior, including manual ballistic yaw/pitch adjustment while deployed and controller start/stop transitions.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| src/chassis_gimbal_shooter_manual.cpp | Adds wheel-online + ballistic-solution runtime logic, new service/key behaviors, and command-sending changes. |
| include/rm_manual/chassis_gimbal_shooter_manual.h | Declares new callbacks, senders/subscribers, and state for the updated manual logic. |
| include/rm_manual/chassis_gimbal_shooter_cover_manual.h | Adjusts Ctrl+R release declaration to match the updated base interface. |
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| if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::RAW && !deployed_) | ||
| { | ||
| double roll{}, pitch{}, yaw{}; | ||
| try | ||
| { | ||
| quatToRPY(tf_buffer_.lookupTransform("base_link", "yaw", ros::Time(0)).transform.rotation, roll, pitch, yaw); | ||
| } | ||
| catch (tf2::TransformException& ex) | ||
| { | ||
| ROS_WARN("%s", ex.what()); | ||
| } | ||
| ballistic_yaw_ = ballistic_solution_.data[0]; | ||
| ballistic_pitch_ = ballistic_solution_.data[1]; | ||
| gimbal_cmd_sender_->setGimbalTrajFrameId("base_link"); | ||
| gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::TRAJ); | ||
| traj_yaw_ = yaw, traj_pitch_ = -0.585; | ||
| gimbal_cmd_sender_->setGimbalTraj(traj_yaw_, traj_pitch_); | ||
| gimbal_cmd_sender_->setGimbalTraj(ballistic_yaw_, ballistic_pitch_); | ||
| setChassisMode(rm_msgs::ChassisCmd::DEPLOY); |
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| void ChassisGimbalShooterManual::ctrlQPress() | ||
| { | ||
| shooter_calibration_->reset(); | ||
| gimbal_calibration_->reset(); | ||
| adjust_image_transmission_ = false; | ||
| up_change_position_ = false; | ||
| low_change_position_ = false; | ||
| need_change_position_ = false; | ||
| image_transmission_cmd_sender_->off(); | ||
| } |
2194555
approved these changes
Jun 6, 2026
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