def goal_callback(self, msg):
success = False
rate = rospy.Rate(1)
for curTime in range(self.timeOut):
if self.getOdomDataActionServer.is_preempt_requested():
rospy.logwarn("action server pre-empted")
success = False
break
self.odomData.append(self.odomReader.read())
#print(self.odomData)
outOfMaze = check_if_out_maze(self.distGoal, self.odomData)
if outOfMaze == True:
success = True
break
rate.sleep()
if success == True:
self.result.result_odom_array = self.odomData
self.getOdomDataActionServer.set_succeeded(self.result)
else:
rospy.loginfo("spehroDistActionServer timed out")
def reached_distance_goal(self):
"""
Returns True if the distance moved from the first instance of recording until now has reached the self._goal_distance
"""
return check_if_out_maze(self._goal_distance, self._result.result_odom_array)
def reached_distance_goal(self):
return check_if_out_maze(self._goal_distance,
self._result.result_odom_array)
def got_out_maze(self, odom_result_array):
return check_if_out_maze(self._goal_distance, odom_result_array)
def reached_distance_goal(self):
return check_if_out_maze(self.goal_length,
self.result_var.result_odom_array)
def check_out_of_maze(self, odom_arry):
return check_if_out_maze(self._goal_distance, odom_arry)