From 26f9159d4d37555a69ac5d7ac15ca48f24e67652 Mon Sep 17 00:00:00 2001 From: Vincent Belpois Date: Sat, 11 May 2024 01:55:23 +0200 Subject: [PATCH] limited the count --- src/listen_package/listen_package/ecoute.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/listen_package/listen_package/ecoute.py b/src/listen_package/listen_package/ecoute.py index 41e78a3..a15d0bf 100644 --- a/src/listen_package/listen_package/ecoute.py +++ b/src/listen_package/listen_package/ecoute.py @@ -29,9 +29,9 @@ def listener_callback(self, msg): for range_value, intensity_value in zip(msg.ranges, msg.intensities): if min_distance < range_value < max_distance and intensity_value > 150: # If an object is detected within the specified range and with intensity greater than 150, publish a message - self.runningCount += 1 + self.runningCount = self.runningCount + 1 if self.runningCount < self.runningCountLimit else self.runningCountLimit else: - self.runningCount = self.runningCount - 1 if self.runningCount > 0 else 0 + self.runningCount = self.runningCount - 1 if self.runningCount > 0 else 0 if self.runningCount > 0: self.get_logger().info("Object detected at distance: %f" % range_value) self.publisher.publish(String(data='Object detected'))