def simple_goal_cb(msg):
mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg))
rospy.logdebug("Relaying move_base_simple/goal pose to mbf")
mbf_mb_ac.wait_for_result()
status = mbf_mb_ac.get_state()
result = mbf_mb_ac.get_result()
rospy.logdebug("MBF execution completed with result [%d]: %s",
result.outcome, result.message)
def mb_execute_cb(msg):
mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg.target_pose), feedback_cb=mbf_feedback_cb)
rospy.logdebug("Relaying legacy move_base goal to mbf")
mbf_mb_ac.wait_for_result()
status = mbf_mb_ac.get_state()
result = mbf_mb_ac.get_result()
rospy.logdebug("MBF execution completed with result [%d]: %s", result.outcome, result.message)
if result.outcome == mbf_msgs.MoveBaseResult.SUCCESS:
mb_as.set_succeeded(mb_msgs.MoveBaseResult(), "Goal reached.")
else:
mb_as.set_aborted(mb_msgs.MoveBaseResult(), result.message)
def simple_goal_cb(msg):
mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg))
rospy.logdebug("Relaying move_base_simple/goal pose to mbf")