Added executive

traclabs · Jun 4, 2024 · e9c6613 · e9c6613
1 parent d94d9dd
commit e9c6613
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/gnc/ctl/include/ctl/ctl_ros.h b/gnc/ctl/include/ctl/ctl_ros.h
@@ -81,7 +81,7 @@ class Ctl {
   };
 
   // Maximum acceptable latency
-  static constexpr double MAX_LATENCY = 50; //0.5; // ANA DEBUG JUST TO SEE IF THE DAMN THING MOVES!
+  static constexpr double MAX_LATENCY = 0.5;
 
   /**
    * Ctl allocate, register, initialize model

diff --git a/management/executive/src/executive.cc b/management/executive/src/executive.cc
@@ -3917,7 +3917,7 @@ void Executive::Initialize(NodeHandle &nh) {
 
   agent_state_.holonomic_enabled = false;
   agent_state_.check_obstacles = true;
-  agent_state_.check_zones = true;
+  agent_state_.check_zones = false; // true; // ANA DEBUG: JPS3D is crashing in the Validator, deactivating for now
   agent_state_.auto_return_enabled = true;
   agent_state_.immediate_enabled = true;
   agent_state_.replanning_enabled = false;