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umrover · Mar 17, 2024 · de073a0 · de073a0
1 parent 0feb0b5
commit de073a0
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Showing 3 changed files with 8 additions and 13 deletions.
diff --git a/src/teleoperation/lander_align/lander_align.cpp b/src/teleoperation/lander_align/lander_align.cpp
@@ -79,12 +79,13 @@ namespace mrover {
         }
     }
 
-    void LanderAlignNodelet::ActionServerCallBack(mrover::LanderAlignActionGoalConstPtr const& actionRequest){
+    void LanderAlignNodelet::ActionServerCallBack(LanderAlignActionGoalConstPtr const& actionRequest){
         LanderAlignActionFeedback feedback;
         LanderAlignActionResult result;
-        for(int i = 0; i < static_cast<int>(actionRequest->goal.num); i++){
-            //feedback.feedback.percent_complete=i;
-        }
+        // while(actionRequest.action_goal.goal.num);
+        // for(int i = 0; i < static_cast<int>(actionRequest.goal.num); i++){
+        //     //feedback.feedback.percent_complete=i;
+        // }
     }
 
 

diff --git a/src/teleoperation/lander_align/lander_align.hpp b/src/teleoperation/lander_align/lander_align.hpp
@@ -1,16 +1,10 @@
 #pragma once
 
-#include "mrover/LanderAlignAction.h"
-#include "mrover/LanderAlignActionGoal.h"
 #include "pch.hpp"
-#include <Eigen/src/Core/Matrix.h>
-#include <optional>
-#include <ostream>
-#include <tuple>
 
 namespace mrover {
 
-    typedef actionlib::SimpleActionServer<mrover::LanderAlignAction> Server;
+    using Server = actionlib::SimpleActionServer<mrover::LanderAlignAction>;
 
     enum RTRSTATE {
         turn1 = 0,
@@ -35,7 +29,7 @@ namespace mrover {
         double const mLinearP = 0.3;
         ros::NodeHandle mNh, mPnh;
 
-        Server mActionServer = Server(mNh, "LanderAlignAction", [&](const mrover::LanderAlignActionGoalConstPtr& goal){ActionServerCallBack(goal);}, false);
+        Server mActionServer = Server(mNh, "LanderAlignAction", [&](mrover::LanderAlignActionGoalConstPtr const& goal){ActionServerCallBack(goal);}, false);
 
 
         ros::Publisher mDebugVectorPub;

diff --git a/src/teleoperation/lander_align/pch.hpp b/src/teleoperation/lander_align/pch.hpp
@@ -9,7 +9,7 @@
 #include <actionlib/server/simple_action_server.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <sensor_msgs/point_cloud2_iterator.h>
-#include "mrover/LanderAlignAction.h"
+#include <mrover/LanderAlignAction.h>
 
 //TF
 #include <tf/exceptions.h>