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)