def send_turtle_goal(self, arg_dis, arg_angle):
"""
Function to send Goals to Action Server : /action_turtle
"""
goal = msgTurtleGoal(distance=arg_dis, angle=arg_angle)
self._ac.send_goal(goal,
done_cb=self.done_callback,
feedback_cb=self.feedback_callback)
rospy.loginfo("Goal to Turtle Sent.")
def send_goal(self, arg_dis, arg_angle):
# Create Goal message for Simple Action Server
goal = msgTurtleGoal(distance=arg_dis, angle=arg_angle)
'''
* done_cb is set to the function pointer of the function which should be called once
the Goal is processed by the Simple Action Server.
* feedback_cb is set to the function pointer of the function which should be called while
the goal is being processed by the Simple Action Server.
'''
self._ac.send_goal(goal, done_cb=self.done_callback,
feedback_cb=self.feedback_callback)
rospy.loginfo("Goal has been sent.")
def send_goal(self, arg_dis, arg_angle):
'''*************METHOD DOCSTRING**********************
Name: send_goal
Objective: To send the goal to Simple Action Server that drives the Turtle
Arguments: arg_dis, arg_angle i.e goal distance and angle
Returns: None
******************************************************
* done_cb is set to the function pointer of the function which should be called once
the Goal is processed by the Simple Action Server.
* feedback_cb is set to the function pointer of the function which should be called while
the goal is being processed by the Simple Action Server.'''
# Creating Goal message for Simple Action Server
goal = msgTurtleGoal(distance=arg_dis, angle=arg_angle)
self._sac.send_goal(goal,
done_cb=self.done_callback,
feedback_cb=feedback_callback)
rospy.loginfo("Goal has been sent.")
def send_goal(self, arg_distance, arg_theta):
goal = msgTurtleGoal(distance=arg_distance, theta=arg_theta)
self.sac.send_goal(goal, done_cb=self.done_callback)
rospy.loginfo('Goals sent')
def send_goal(self, arg_dis, arg_angle):
goal = msgTurtleGoal(distance=arg_dis, angle=arg_angle)
self.sac.send_goal(goal, done_cb=self.done_callback)