def execute(self, userdata):
rospy.loginfo("Waiting for aligned_driving action server...")
self.align_client.wait_for_server()
goal = AlignedDrivingGoal()
goal.front_distance = 0.02
#goal.tolerance = 0.008
goal.side_difference = 0.0
rospy.loginfo("Sending aligned_driving goal...")
self.align_client.send_goal(goal)
rospy.loginfo("Waiting for aligned_driving to finish...")
self.align_client.wait_for_result(rospy.Duration.from_sec(0.0))
return 'done'
def __move_base(self, al, counter):
coords = al[counter]
#goal = AlignedDrivingGoal()
#goal.front_distance = 0.05
#goal.tolerance = 0.008
#goal.side_difference = coords[1]
#self.align_client.send_goal(goal)
#self.align_client.wait_for_result(rospy.Duration.from_sec(0.0))
if coords[1] > 0.0:
msg_vel = Twist()
msg_vel.linear.y += coords[1]
global_data.pubVel.publish(msg_vel)
sleep(3)
global_data.pubVel.publish(Twist())
goal = AlignedDrivingGoal()
goal.front_distance = 0.05
goal.tolerance = 0.008
goal.side_difference = 0.0
self.align_client.send_goal(goal)
self.align_client.wait_for_result(rospy.Duration.from_sec(0.0))
