Merge pull request #65 from ye-luo-xi-tui/param

Add param to set actual bullet speed

rm_common/include/rm_common/decision/command_sender.h

@@ -277,6 +277,11 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   {
     ros::NodeHandle limit_nh(nh, "heat_limit");
     heat_limit_ = new HeatLimit(limit_nh, referee_data);
+    nh.param("speed_10m_per_speed", speed_10_, 10.);
+    nh.param("speed_15m_per_speed", speed_15_, 15.);
+    nh.param("speed_16m_per_speed", speed_16_, 16.);
+    nh.param("speed_18m_per_speed", speed_18_, 18.);
+    nh.param("speed_30m_per_speed", speed_30_, 30.);
     if (!nh.getParam("gimbal_error_tolerance", gimbal_error_tolerance_))
       ROS_ERROR("gimbal error tolerance no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("target_acceleration_tolerance", target_acceleration_tolerance_))
@@ -323,15 +328,15 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
     switch (msg_.speed)
     {
       case rm_msgs::ShootCmd::SPEED_10M_PER_SECOND:
-        return 10.;
+        return speed_10_;
       case rm_msgs::ShootCmd::SPEED_15M_PER_SECOND:
-        return 15.;
+        return speed_15_;
       case rm_msgs::ShootCmd::SPEED_16M_PER_SECOND:
-        return 16.;
+        return speed_16_;
       case rm_msgs::ShootCmd::SPEED_18M_PER_SECOND:
-        return 18.;
+        return speed_18_;
       case rm_msgs::ShootCmd::SPEED_30M_PER_SECOND:
-        return 30.;
+        return speed_30_;
     }
     return 0.;
   }
@@ -346,6 +351,7 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   void setZero() override{};
 
 private:
+  double speed_10_, speed_15_, speed_16_, speed_18_, speed_30_;
   double gimbal_error_tolerance_{};
   double target_acceleration_tolerance_{};
   double track_target_acceleration_;