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Add color switch and tracker reset service callers for track mode #319

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Merged
Bluefairy-ljy merged 1 commit into from
Oct 3, 2026
Merged

Add color switch and tracker reset service callers for track mode #319

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34 changes: 33 additions & 1 deletion rm_common/include/rm_common/decision/service_caller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,9 @@
#include <controller_manager_msgs/SwitchController.h>
#include <control_msgs/QueryCalibrationState.h>
#include <rm_msgs/StatusChange.h>
#include <std_srvs/Empty.h>
#include <std_srvs/SetBool.h>
#include <std_srvs/Trigger.h>

namespace rm_common
{
Expand Down Expand Up @@ -133,6 +136,35 @@ class ServiceCallerBase
int fail_count_, fail_limit_;
};

class ColorChangeServiceCaller : public ServiceCallerBase<std_srvs::SetBool>
{
public:
explicit ColorChangeServiceCaller(ros::NodeHandle& nh)
: ServiceCallerBase<std_srvs::SetBool>(nh, "/superpower_track_vision/change_color")
{
service_.request.data = false;
callService();
}
void changeColor()
{
service_.request.data = !service_.request.data;
callService();
}
};

class TrackerResetServiceCaller : public ServiceCallerBase<std_srvs::Trigger>
{
public:
explicit TrackerResetServiceCaller(ros::NodeHandle& nh)
: ServiceCallerBase<std_srvs::Trigger>(nh, "/superpower_track/reset")
{
callService();
}
void reset()
{
callService();
}
};
class SwitchControllersServiceCaller : public ServiceCallerBase<controller_manager_msgs::SwitchController>
{
public:
Expand Down Expand Up @@ -185,7 +217,7 @@ class SwitchDetectionCaller : public ServiceCallerBase<rm_msgs::StatusChange>
{
public:
explicit SwitchDetectionCaller(ros::NodeHandle& nh)
: ServiceCallerBase<rm_msgs::StatusChange>(nh, "/detection_nodelet/status_switch")
: ServiceCallerBase<rm_msgs::StatusChange>(nh, "/Processor/status_change")
{
service_.request.target = rm_msgs::StatusChangeRequest::ARMOR;
service_.request.exposure = rm_msgs::StatusChangeRequest::EXPOSURE_LEVEL_0;
Expand Down
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