def executeCallback(self, goal):
self.next_waypoint = goal.next_point
while not rospy.is_shutdown() and self._as.is_active():
self.request_name = ''
result = InterfaceResult()
if goal.show_select:
client_utils.display_relative_page(self.display_no,
'guiding_chair.html')
else:
client_utils.display_relative_page(self.display_no,
'guiding.html')
while self.request_name == '' and not rospy.is_shutdown():
rospy.sleep(0.1)
if self.request_name == 'next':
result.chosen_point = self.next_waypoint
result.idx = goal.idx
rospy.loginfo(result)
self._as.set_succeeded(result)
elif self.request_name == 'abort':
try:
s = rospy.ServiceProxy(
'/walking_group/guide_interface/cancel', Empty)
s()
except rospy.ServiceException as e:
rospy.logwarn("Service call failed: %s" % e)
self._as.set_preempted()
elif self.request_name == 'killall':
try:
s = rospy.ServiceProxy('/walking_group/cancel', Empty)
s()
except rospy.ServiceException as e:
rospy.logwarn("Service call failed: %s" % e)
self._as.set_preempted()
elif self.request_name == 'select':
result.command = self.request_name
self._as.set_succeeded(result)
else:
self.request_name = ''
result.chosen_point = ''
result.idx = self.show_map(goal)
rospy.loginfo(result)
if result.idx < 0:
# self.request_name = ''
continue
self._as.set_succeeded(result)
def node_callback(self, data):
self.current_node = data.data
if data.data == self.navgoal.target and self.navgoal.no_orientation: # For intermediate nodes, being in the influence are is enough
self.client.cancel_all_goals()
# self.client_move_base.cancel_all_goals()
if data.data in self.pause_points and not self.pause:
rospy.loginfo("Pausing...")
client_utils.display_relative_page(self.display_no, 'warte.html')
self.client.cancel_all_goals()
self.client_move_base.cancel_all_goals()
self.pause = 1
try:
s = rospy.ServiceProxy(
'/sound_player_server/sound_player_service',
PlaySoundService)
s.wait_for_service()
s("jingle_stop.mp3")
except rospy.ServiceException, e:
rospy.logwarn("Service call failed: %s" % e)
def executeCallback(self, goal):
self.request_name = ''
self.next_waypoint = goal.next_point
result = InterfaceResult()
client_utils.display_relative_page(self.display_no, 'guiding.html')
while self.request_name == '' and not rospy.is_shutdown():
rospy.sleep(0.1)
if self.request_name == 'next':
result.chosen_point = goal.next_point
rospy.loginfo(result)
self._as.set_succeeded(result)
elif self.request_name == 'abort':
try:
s = rospy.ServiceProxy('/walking_group/guide_interface/cancel',
Empty)
s()
except rospy.ServiceException as e:
rospy.logwarn("Service call failed: %s" % e)
self._as.set_preempted()
elif self.request_name == 'killall':
try:
s = rospy.ServiceProxy('/walking_group/cancel', Empty)
s()
except rospy.ServiceException as e:
rospy.logwarn("Service call failed: %s" % e)
self._as.set_preempted()
else:
self.request_name = ''
self.listWaypointPage(goal.possible_points)
while self.request_name == '':
rospy.sleep(0.1)
result.chosen_point = self.request_name
rospy.loginfo(result)
self._as.set_succeeded(result)
def executeCallback(self, goal):
if goal.waypoint == 'right':
client_utils.display_relative_page(self.display_no,
'turn_right.html')
elif goal.waypoint == 'left':
client_utils.display_relative_page(self.display_no,
'turn_left.html')
else:
client_utils.display_relative_page(self.display_no,
'straight.html')
if self._as.is_preempt_requested():
rospy.logwarn("Aborting the goal...")
self._as.set_preempted()
else:
self._as.set_succeeded(GuidingResult())
def executeCallback(self, goal):
self.previous_direction = ""
while not self._as.is_preempt_requested() and not rospy.is_shutdown():
if time.time() - self.start_time > 5: #reconfigurable parameter
self.direction = "stop"
if self.previous_direction != self.direction:
client_utils.display_relative_page(self.display_no,
'stop.html')
rospy.loginfo("STOP")
self.indicate = False
#move head straight
self.head.position = [0, 0]
self.head_pub.publish(self.head)
self.previous_direction = "stop"
else:
if self.previous_direction != self.direction:
if self.direction == 'right':
client_utils.display_relative_page(
self.display_no, 'turn_right.html')
#move head right
self.head.position = [-30, 0]
self.head_pub.publish(self.head)
#indicate
if self.thread:
self.indicate = False
self.thread.join()
self.indicate = True
self.thread = Thread(target=self.blink,
args=('right', ))
self.thread.start()
rospy.loginfo("Moving right...")
self.previous_direction = "right"
elif self.direction == 'left':
client_utils.display_relative_page(
self.display_no, 'turn_left.html')
#move head left
self.head.position = [30, 0]
self.head_pub.publish(self.head)
#indicate
if self.thread:
self.indicate = False
self.thread.join()
self.indicate = True
self.thread = Thread(target=self.blink,
args=('left', ))
self.thread.start()
rospy.loginfo("Moving left...")
self.previous_direction = "left"
else:
client_utils.display_relative_page(
self.display_no, 'straight.html')
self.indicate = False
#move head straight
self.head.position = [0, 0]
self.head_pub.publish(self.head)
rospy.loginfo("Moving straight...")
self.previous_direction = "straight"
if self._as.is_preempt_requested():
self._as.set_preempted()
else:
self._as.set_succeeded()
def goalCallback(self):
self._goal = self._as.accept_new_goal()
client_utils.display_relative_page(self.display_no, 'aaf_map.html')
def show_web_page(self):
client_utils.display_relative_page(self.display_no, 'navigation.html')