Operation mode manager implementation#656
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Andeshog
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Andeshog
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jorgenfj
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First round of review.
Consider splitting into header and source file, and move declarations into the header file.
Also use spdlog for logging instead of rclcpp. Spdlog gives more readable timestamps. You can look at the dp_adapt_backs_controller package for how to import and use spdlog.
Andeshog
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Andeshog
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Andeshog
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Andeshog
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Andeshog
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Andeshog
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Andeshog
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jorgenfj
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Service names should be read from orca.yaml the same way topic are to ensure a single source of truth
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jorgenfj
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Feb 18, 2026
| } catch (const std::exception& e) { | ||
| RCLCPP_ERROR(this->get_logger(), | ||
| "Failed to get operation mode: %s", e.what()); | ||
| killswitch_on_ = true; |
| } catch (const std::exception& e) { | ||
| RCLCPP_ERROR(this->get_logger(), | ||
| "Failed to get operation mode: %s", e.what()); | ||
| killswitch_on_ = true; |
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| RCLCPP_INFO(this->get_logger(), "Killswitch: %s", | ||
| killswitch_on_ ? "on" : "off"); |
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| RCLCPP_INFO(this->get_logger(), "Operation mode: %s", | ||
| vortex::utils::types::mode_to_string(operation_mode_).c_str()); |
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| RCLCPP_INFO( | ||
| this->get_logger(), | ||
| "Operation Mode Manager Node started. Initial mode: %s, Killswitch: %s", | ||
| mode_to_string(mode_).c_str(), killswitch_ ? "true" : "false"); |
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| RCLCPP_INFO(this->get_logger(), "Mode set to to %s", | ||
| mode_to_string(mode_).c_str()); |
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| RCLCPP_INFO(this->get_logger(), "Killswitch set to %s", | ||
| killswitch_ ? "true" : "false"); |
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| RCLCPP_INFO(this->get_logger(), "Killswitch set to %s", | ||
| killswitch_ ? "true" : "false"); |
|
🎉 This PR is included in version 2.6.0 🎉 The release is available on GitHub release Your semantic-release bot 📦🚀 |
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Added service node:
operation_mode_manager.cpp
Changed joystick interface to make use of the manager
Added Operation mode service request type, aswell as message type to use for the operation mode topic
Changed various dp controls to accomodate these changes.
Added operation mode manager to orca.launch.py
Also added operation mode to stonefish_sim in this pull request:
vortexntnu/vortex-stonefish-sim#18