Seeker coordinator #2473
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Seeker coordinator #2473
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petergarud
reviewed
Dec 3, 2025
Squid5678
requested changes
Jan 19, 2026
| rclcpp::Subscription<rj_msgs::msg::SeekingCoordinator>::SharedPtr subscription_; | ||
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| bool am_i_member_{false}; | ||
| rj_geometry::Point selected_target_{-1, -1}; |
Contributor
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why is this initialized with -1?
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| std::string get_current_state() override; | ||
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| void die() override; |
| SeekingCoordinator& operator=(SeekingCoordinator&&) = delete; | ||
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| void service_callback(RequestPtr request, ResponsePtr response); | ||
| static rj_geometry::Point invalidPoint() { return rj_geometry::Point{-1, -1}; } |
Contributor
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can we replace this invalidPoint() with just a null value once a robot leaves seeking?
| client_ = node_->create_client<rj_msgs::srv::SeekingCoordinator>("seeking_coordinator_srv"); | ||
| } | ||
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| void SeekingClient::join_group(StatusCallback callback) { |
Contributor
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can we add a check for am_i_member_ prior to the callback to ensure that we aren't making repeated join_group() calls?
| const FieldDimensions& field_dimensions) const { | ||
| return Seeker::calculate_open_point(3.0, .2, current_position, world_state, field_dimensions); | ||
| rj_geometry::Point SeekingCoordinator::get_open_point( | ||
| int robot_id, const WorldState world_state, rj_geometry::Point current_position, |
Contributor
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should this be const WorldState& world_state to avoid copying in the entire world state?
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Description
Added Seeker coordinator to handle seekers and seeker points without requiring several robots to keep track of each other.
Single source of truth for current seeker points.
Associated / Resolved Issue
Resolves # or ClickUp card
Resolves Clickup Issue: 86b6ubv6c
Design Documents
Link
Steps to Test
Test Case 1
Expected result: Seekers go brrr and no weird Seeker requests and responses needed (except with the coordinator ofc)
Key Files to Review
Group 1
Group 2
Review Checklist
(Optional) Sub-issues (for drafts)
Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.