tested sequence punch

Author: SanctaTinea

src/sauvc_missions/configs/missions/flares.yaml

@@ -15,12 +15,12 @@ states:
       bbox_topic: /stingray/topics/front_camera/bbox_array
       first_clockwise: true
       found_threshold: 1
-      distance_threshold: 0.0
+      distance_threshold: 0.5
       lost_threshold: 30
-      avoid_distance_threshold: 2.5
-      avoid_horizontal_threshold: 0.7
-      max_yaw: 180
-      yaw_step: 15.0
+      avoid_distance_threshold: 1.5
+      avoid_horizontal_threshold: 1.0
+      max_yaw: 360
+      yaw_step: 30.0
       surge: 30.0
       avoid_sway: 0.0
       depth: 1.5

src/sauvc_missions/sauvc_missions/action.py

@@ -29,7 +29,7 @@ def stop(self):
 
     def get_bbox_name(self, flare_id: str):
         if flare_id == "R":
-            return "small_red_flare"
+            return "red_flare"
         elif flare_id == "B":
             return "blue_flare"
         elif flare_id == "Y":
@@ -41,14 +41,14 @@ def get_avoid_bbox_array(self, flare_id: str):
         if flare_id == "R":
             return ["blue_flare", "yellow_flare"]
         elif flare_id == "B":
-            return ["small_red_flare", "yellow_flare"]
+            return ["red_flare", "yellow_flare"]
         elif flare_id == "Y":
-            return ["small_red_flare", "blue_flare"]
+            return ["red_flare", "blue_flare"]
         else:
             return []
 
     async def execute(self,
-                      sequence: list[str] = [],
+                      sequence: list[str] = ["R", "B", "Y"],
                       bbox_topic: str = "",
                       distance_threshold: float = 0.0,
                       avoid_distance_threshold: float = 0.0,
@@ -106,9 +106,14 @@ async def execute(self,
                 f"Timeout while waiting for {self.twist_action_client._action_name} action server")
             return False
 
+        get_logger('action').info(
+                f"sequence: {self.sequence}")
+        
         for flare in self.sequence:
             search_goal = BboxSearchTwistAction.Goal()
             search_goal.bbox_name = self.get_bbox_name(flare_id=flare)
+            get_logger('action').info(
+                f"Target bbox flare: {search_goal.bbox_name}")
             search_goal.bbox_topic = self.bbox_topic
             search_goal.first_clockwise = self.first_clockwise
             search_goal.found_threshold = int(self.found_threshold)