From 9736826cd8d3af628df1cb9717422be1092dcc0f Mon Sep 17 00:00:00 2001 From: Tomas Baca Date: Wed, 28 Aug 2024 13:07:27 +0200 Subject: [PATCH] Revert "fixed cntrl & tracker switching while rc mode active" This reverts commit f3d5d5d462c1cfbb67a520a3fe9cd11c1227531d. --- src/control_manager/control_manager.cpp | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/src/control_manager/control_manager.cpp b/src/control_manager/control_manager.cpp index 7809b2a..fc32d1a 100644 --- a/src/control_manager/control_manager.cpp +++ b/src/control_manager/control_manager.cpp @@ -6950,8 +6950,6 @@ void ControlManager::bumperPushFromObstacle(void) { if (!bumper_repulsing_) { - bumper_repulsing_ = true; - if (_bumper_switch_tracker_) { auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_); @@ -6981,6 +6979,8 @@ void ControlManager::bumperPushFromObstacle(void) { } } + bumper_repulsing_ = true; + callbacks_enabled_ = false; mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response; @@ -8075,9 +8075,7 @@ std::tuple ControlManager::switchTracker(const std::string& t return std::tuple(false, ss.str()); } - if (rc_goto_active_ && tracker_name != _ehover_tracker_name_ && tracker_name != _landoff_tracker_name_ && tracker_name != _null_tracker_name_ && - !bumper_repulsing_) { - + if (rc_goto_active_) { ss << "can not switch tracker, the RC joystick is active"; ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str()); return std::tuple(false, ss.str()); @@ -8217,9 +8215,7 @@ std::tuple ControlManager::switchController(const std::string return std::tuple(false, ss.str()); } - if (rc_goto_active_ && controller_name != _failsafe_controller_name_ && controller_name != _eland_controller_name_ && - controller_name != _bumper_controller_name_ && !bumper_repulsing_) { - + if (rc_goto_active_) { ss << "can not switch controller, the RC joystick is active"; ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str()); return std::tuple(false, ss.str());