sirius/unity_robot_controller
5
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

upvise

Browse Source
This commit is contained in:
moscowsky
2026-06-11 17:12:33 +03:00
parent 5dde585ba3
commit 968db5f6b8
1 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity_robot_controller/fire_extinguisher_emulator.py
+7 -4
View File
@@ -16,7 +16,7 @@ class FireExtinguisherEmulatorNode(Node):
super().__init__('fire_extinguisher_emulator') super().__init__('fire_extinguisher_emulator')
self.declare_parameter('crosshair_alpha', 0.5) self.declare_parameter('crosshair_alpha', 0.5)
self.declare_parameter('crosshair_speed', 1.) # pixel/sec self.declare_parameter('crosshair_speed', 500.) # pixel/sec
self.declare_parameter('crosshair_color', [255, 0, 0]) # RGB (red) self.declare_parameter('crosshair_color', [255, 0, 0]) # RGB (red)
self.crosshair_alpha = self.get_parameter('crosshair_alpha').value self.crosshair_alpha = self.get_parameter('crosshair_alpha').value
@@ -30,8 +30,8 @@ class FireExtinguisherEmulatorNode(Node):
# State variables # State variables
self.target_x = 0.0 self.target_x = 0.0
self.target_y = 0.0 self.target_y = 0.0
self.current_x = 0.0 self.current_x = None
self.current_y = 0.0 self.current_y = None
# Camera info # Camera info
self.camera_info = None self.camera_info = None
@@ -78,6 +78,9 @@ class FireExtinguisherEmulatorNode(Node):
self.get_logger().info(f"Camera info received: {self.width}x{self.height}, fx={self.fx}, fy={self.fy}") self.get_logger().info(f"Camera info received: {self.width}x{self.height}, fx={self.fx}, fy={self.fy}")
self.current_x = (self.target_x + 1.0) * 0.5 * self.width
self.current_y = (self.target_y + 1.0) * 0.5 * self.height
# Remove the subscription after getting camera info # Remove the subscription after getting camera info
#self.sub_camera_info = self.sub_camera_info.__class__() # Disable subscription #self.sub_camera_info = self.sub_camera_info.__class__() # Disable subscription
if hasattr(self, 'sub_camera_info'): if hasattr(self, 'sub_camera_info'):
@@ -90,7 +93,7 @@ class FireExtinguisherEmulatorNode(Node):
# Calculate target pixels # Calculate target pixels
target_pixel_x = (self.target_x + 1.0) * 0.5 * self.width target_pixel_x = (self.target_x + 1.0) * 0.5 * self.width
target_pixel_y = (self.target_y + 1.0) * 0.5 * self.height target_pixel_y = self.height - (self.target_y + 1.0) * 0.5 * self.height
# Calculate distance to target # Calculate distance to target
dx = target_pixel_x - self.current_x dx = target_pixel_x - self.current_x