time constrain

catkin_ws/src/asclinic_pkg/src/Kalman.cpp

@@ -19,7 +19,9 @@ float x = -1, y = -3, phi = 0.0;/////////////////////////////////////////////
 int left_p = 1, right_p = 1;
 ros::Time time_previous, time_now; // Timing variables
 ros::Duration elapsed_time; // Duration to calculate elapsed time
-
+ros::Time constrain_time;
+ros::Time begin_time;
+ros::Duration constrain_duration;
 
 double time_float; // Floating-point representation of elapsed time
 
@@ -122,7 +124,12 @@ void answer(const asclinic_pkg::LeftRightInt32& msg) {
 
 
 void ImageAnswer(const asclinic_pkg::position& msg) {
-
+    constrain_time = ros::Time::now();
+    constrain_duration = constrain_time - begin_time;
+    float temp_value = constrain_duration.toSec();
+    if (temp_value<30) {
+        return;
+    }
     // Check if elapsed time is less than 0.5 seconds
     if (authority ==0) {
         return;
@@ -218,7 +225,7 @@ int main(int argc, char **argv) {
     ros::init(argc, argv, "Kalman");
     std::string ns_for_group = ros::this_node::getNamespace();
     ros::NodeHandle nh(ns_for_group);
-
+    begin_time = ros::Time::now();
     // Initialize time_now to current time
     time_now = ros::Time::now();
     

catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp

@@ -58,7 +58,7 @@ float w_now = 0;
 float v_now = 0;
 int state_value = 2; // 0 is forward, 1 is rotate , 2 is pending
 
-float initial_pwm = 24;
+float initial_pwm = 25;
 //initial 26.5
 void straightline(const asclinic_pkg::vw& vw_msg) {