There are quite a few things that should change about the entity services found in world_services.py.
Tasks:
- Separate controller commands into a separate node
- Only have one service per node
- loader
- intake ball
- score ball
- Switch the
ros_gz_interfaces service type used in score ball service to SetEntityPose from SpawnEntity and DeleteEntity
- Maybe try adding physics to scoring blocks in an attempt to make it a bit more realistic.
- bare minimum make the scoring a bit better by not sliding blocks completely to the other side. Initialize goal Dequeues with 0s and shift accordingly.
- auto reject the ball when the wrong color is picked up by ejecting it through the top output.
There are quite a few things that should change about the entity services found in
world_services.py.Tasks:
ros_gz_interfacesservice type used in score ball service toSetEntityPosefromSpawnEntityandDeleteEntity