diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos index b9e9b0c5..c6df86e1 100644 --- 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 index b9631fd7..d6c6932f 100644 --- 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 index bc921a75..5da51464 100644 --- 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 index 0ab52d2b..b89956d4 100644 --- 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 deleted file mode 100644 index 4fa55c1e..00000000 --- a/panther_manager/include/panther_manager/types.hpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright 2024 Husarion sp. z o.o. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef PANTHER_MANAGER_TYPES_HPP_ -#define PANTHER_MANAGER_TYPES_HPP_ - -namespace panther_manager -{ - -enum DockingCmd : unsigned { - DOCKING_CMD_NONE = 0U, - DOCKING_CMD_DOCK = 1U, - DOCKING_CMD_UNDOCK = 2U, -}; - -} // namespace panther_manager - -#endif // PANTHER_MANAGER_TYPES_HPP_ diff --git a/panther_manager/src/docking_manager_node.cpp b/panther_manager/src/docking_manager_node.cpp index d38721bc..b4925f6d 100644 --- a/panther_manager/src/docking_manager_node.cpp +++ b/panther_manager/src/docking_manager_node.cpp @@ -30,7 +30,6 @@ #include #include -#include namespace panther_manager { @@ -45,7 +44,7 @@ DockingManagerNode::DockingManagerNode( const std::map docking_initial_bb = {}; docking_tree_manager_ = std::make_unique( - "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 index 28aca398..b4485a9e 100644 --- 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("Lights", initial_blackboard, 5550); + lights_tree_manager_ = std::make_unique("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 index 258f0922..d204690c 100644 --- 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( - "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 shutdown_initial_blackboard = { {"SHUTDOWN_HOSTS_FILE", shutdown_hosts_path.c_str()}, }; shutdown_tree_manager_ = std::make_unique( - "Shutdown", shutdown_initial_blackboard, 5565); + "Shutdown", shutdown_initial_blackboard, 7777); RCLCPP_INFO(this->get_logger(), "Node constructed successfully."); }