added support id interface

2024-11-03 01:15:25 -05:00
parent bae70e1de0
commit ed5915fa40
5 changed files with 976 additions and 959 deletions
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -74,6 +74,7 @@ class BtSimNode:
            self.switch_controller,
        )
        rospy.Service("get_target_seg_id", TargetID, self.get_target_seg_id)
+        rospy.Service("get_support_seg_id", TargetID, self.get_support_seg_id)

    def seed(self, req):
        self.sim.seed(req.seed)
@@ -92,6 +93,11 @@ class BtSimNode:
        response = TargetIDResponse()
        response.id = self.sim.select_target()
        return response
+    
+    def get_support_seg_id(self, req):
+        response = TargetIDResponse()
+        response.id = self.sim.select_support()
+        return response

    def switch_controller(self, req):
        for controller in req.stop_controllers: