HiveCoreRD/hivecore_robot_arm
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修改时间3

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This commit is contained in:
zj
2025-10-30 18:14:29 +08:00
parent 465c9585d9
commit 2027a97eca
2 changed files with 78 additions and 8 deletions
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14
rm_arm_control/src/rm_arm_node.cpp
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@@ -388,14 +388,14 @@ void RmArmNode::ArmActionCheck()
while (rclcpp::ok()) {
if (!busy) {
int result = sem_timedwait(&sem_, &timeout);
if (result == 0) {
if (leftArmHandler_ != NULL && (leftArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(leftArmHandler_);
}
if (rightArmHandler_ != NULL && (rightArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(rightArmHandler_);
}
if (leftArmHandler_ != NULL && (leftArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(leftArmHandler_);
}
if (rightArmHandler_ != NULL && (rightArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(rightArmHandler_);
}
}
int64_t currentTimeNs = get_clock()->now().nanoseconds();
if (currentTimeNs >= nextCheckPoint) {