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husarion · Oct 29, 2024 · 941c941 · 941c941
1 parent 3474e89
commit 941c941
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Showing 8 changed files with 10 additions and 41 deletions.
diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos
@@ -10,7 +10,7 @@ repositories:
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git
-    version: 6eb04e3a8d30e9700b4600d0ad30415bc70fd6f9
+    version: fcee4d9f249a62adc113eb80be4885b08024ee9c
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git

diff --git a/panther/panther_simulation.repos b/panther/panther_simulation.repos
@@ -10,7 +10,7 @@ repositories:
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git
-    version: 6eb04e3a8d30e9700b4600d0ad30415bc70fd6f9
+    version: fcee4d9f249a62adc113eb80be4885b08024ee9c
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git

diff --git a/panther_diagnostics/src/system_monitor_node.cpp b/panther_diagnostics/src/system_monitor_node.cpp
@@ -28,7 +28,6 @@
 #include "panther_utils/ros_utils.hpp"
 
 #include "panther_diagnostics/filesystem.hpp"
-#include "panther_diagnostics/types.hpp"
 
 namespace panther_diagnostics
 {

diff --git a/panther_manager/CONFIGURATION.md b/panther_manager/CONFIGURATION.md
@@ -206,7 +206,7 @@ To use your customized project, you can modify the `bt_project_file` ROS paramet
 
 Groot2 also provides a real-time visualization tool that allows you to see and debug actively running trees. To use this tool with trees launched with the `panther_manager` package, you need to specify the port associated with the tree you want to visualize. The ports for each tree are listed below:
 
-- Lights tree: `10.15.20.2:5550`
-- RobotState tree: `10.15.20.2:5555`
-- Safety tree: `10.15.20.2:5560`
-- Shutdown tree: `10.15.20.2:5565`
+- Docking tree: `10.15.20.2:4444`
+- Lights tree: `10.15.20.2:5555`
+- Safety tree: `10.15.20.2:6666`
+- Shutdown tree: `10.15.20.2:7777`
diff --git a/panther_manager/include/panther_manager/types.hpp b/panther_manager/include/panther_manager/types.hpp
diff --git a/panther_manager/src/docking_manager_node.cpp b/panther_manager/src/docking_manager_node.cpp
@@ -30,7 +30,6 @@
 
 #include <panther_manager/behavior_tree_manager.hpp>
 #include <panther_manager/behavior_tree_utils.hpp>
-#include <panther_manager/types.hpp>
 
 namespace panther_manager
 {
@@ -45,7 +44,7 @@ DockingManagerNode::DockingManagerNode(
   const std::map<std::string, std::any> docking_initial_bb = {};
 
   docking_tree_manager_ = std::make_unique<BehaviorTreeManager>(
-    "Docking", docking_initial_bb, 5555);
+    "Docking", docking_initial_bb, 4444);
 
   RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
 }

diff --git a/panther_manager/src/lights_manager_node.cpp b/panther_manager/src/lights_manager_node.cpp
@@ -49,7 +49,7 @@ LightsManagerNode::LightsManagerNode(
     battery_percent_window_len, 1.0);
 
   const auto initial_blackboard = CreateLightsInitialBlackboard();
-  lights_tree_manager_ = std::make_unique<BehaviorTreeManager>("Lights", initial_blackboard, 5550);
+  lights_tree_manager_ = std::make_unique<BehaviorTreeManager>("Lights", initial_blackboard, 5555);
 
   RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
 }

diff --git a/panther_manager/src/safety_manager_node.cpp b/panther_manager/src/safety_manager_node.cpp
@@ -58,14 +58,14 @@ SafetyManagerNode::SafetyManagerNode(
 
   const auto safety_initial_blackboard = CreateSafetyInitialBlackboard();
   safety_tree_manager_ = std::make_unique<BehaviorTreeManager>(
-    "Safety", safety_initial_blackboard, 5560);
+    "Safety", safety_initial_blackboard, 6666);
 
   const auto shutdown_hosts_path = this->get_parameter("shutdown_hosts_path").as_string();
   const std::map<std::string, std::any> shutdown_initial_blackboard = {
     {"SHUTDOWN_HOSTS_FILE", shutdown_hosts_path.c_str()},
   };
   shutdown_tree_manager_ = std::make_unique<BehaviorTreeManager>(
-    "Shutdown", shutdown_initial_blackboard, 5565);
+    "Shutdown", shutdown_initial_blackboard, 7777);
 
   RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
 }