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Commit c686e06b authored by KingMaZito's avatar KingMaZito
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parent 9e604dcd
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...@@ -128,6 +128,15 @@ void Mediator::mediate(){ ...@@ -128,6 +128,15 @@ void Mediator::mediate(){
} }
calculate(ground_per_robot); calculate(ground_per_robot);
//swap
Abstract_robot* ar = robots_[1];
robots_[1] = robots_[0];
robots_[0] = ar;
calculate(ground_per_robot);
} }
void Mediator::calculate(std::vector<tf2::Transform>& ground_per_robot){ void Mediator::calculate(std::vector<tf2::Transform>& ground_per_robot){
......
...@@ -74,7 +74,6 @@ void Moveit_mediator::build_wings(std::bitset<3>& wing, int& robot){ ...@@ -74,7 +74,6 @@ void Moveit_mediator::build_wings(std::bitset<3>& wing, int& robot){
for (std::size_t i = 0; i < result.size(); i++){ for (std::size_t i = 0; i < result.size(); i++){
if (result[i]){ if (result[i]){
ROS_INFO("%i", i);
ceti->register_observers(wings_[robot][i]); ceti->register_observers(wings_[robot][i]);
} }
} }
...@@ -93,8 +92,6 @@ void Moveit_mediator::set_wings(std::vector<std::pair<std::vector<object_data>, ...@@ -93,8 +92,6 @@ void Moveit_mediator::set_wings(std::vector<std::pair<std::vector<object_data>,
void Moveit_mediator::setup_task(){ void Moveit_mediator::setup_task(){
ROS_INFO("=> write Task Constructor Objects"); ROS_INFO("=> write Task Constructor Objects");
ROS_INFO("=> ");
bool coop = false; bool coop = false;
......
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