commit

README.md

@@ -36,4 +36,7 @@ oss-browser预设oss路径：oss://open-bucket
 oss-browser区域：华北2（北京）
 keyid：n8glvFGS25MrLY7j
 secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
-```
+```
+
+
+# 室外机器人

trigger/pjibot_delivery/robot_pose/EnterTjunction/main/EnterTjunction.go

@@ -40,7 +40,7 @@ func Rule(data *geometry_msgs.PoseStamped) string {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	fmt.Println("判断是否进入T字路口")
+	//fmt.Println("判断是否进入T字路口")
 	enterflag := IfEnter(pointlist, 15, data.Pose.Position.X, data.Pose.Position.Y)
 	if enterflag {
 		return "EnterTjunction"
@@ -58,7 +58,7 @@ func IfEnter(pointlist []Point, radius float64, x, y float64) bool {
 			return true
 		}
 	}
-	fmt.Printf("mindistance=%f", mindistance)
+	//fmt.Printf("mindistance=%f", mindistance)
 	mindistance = 999.0
 	return false
 }

trigger/pjibot_delivery/robot_pose/PassManholeCover/main/PassManholeCover.go

@@ -10,7 +10,7 @@ func Topic() string {
 	return "/robot_pose"
 }
 
-// Label todo 禁止存在下划线_
+// 禁止存在下划线_
 func Label() string {
 	return "PassManholeCover"
 }
@@ -38,23 +38,23 @@ func Rule(data *geometry_msgs.PoseStamped) string {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	enterflag := IfEnter(pointlist, 1.5, data.Pose.Position.X, data.Pose.Position.Y)
-	if enterflag {
-		return "PassManholeCover"
+	//fmt.Println("判断是否覆盖井盖")
+	enterFlag := IfEnter(pointlist, 1.5, data.Pose.Position.X, data.Pose.Position.Y)
+	if enterFlag {
+		return Label()
 	}
 
 	return ""
 }
-func IfEnter(pointlist []Point, radius float64, x, y float64) bool {
+func IfEnter(pointList []Point, radius float64, x, y float64) bool {
 	// 判断是否进入点列表中的区域
 	point1 := Point{X: x, Y: y}
-	for _, point := range pointlist {
+	for _, point := range pointList {
 		d := distance(point1, point)
 		if d <= radius {
 			return true
 		}
 	}
-
 	return false
 }