def on_enter(self, userdata):
self._startTime = Time.now()
self._failed = False
self._reached = False
goal_id = GoalID()
goal_id.id = 'abcd'
goal_id.stamp = Time.now()
action_goal = MoveBaseGoal()
action_goal.target_pose = userdata.waypoint
action_goal.speed = userdata.speed
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
self._move_client.send_goal(self._action_topic, action_goal)
resp = self.set_tolerance(goal_id, 0.2, 1.55)
except Exception as e:
Logger.logwarn('Failed to send motion request to waypoint (%(x).3f, %(y).3f):\n%(err)s' % {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
Logger.loginfo('Driving to next waypoint')
def on_enter(self, userdata):
speedValue = self._dynrec.get_configuration(timeout = 0.5)
if speedValue is not None:
self._defaultspeed = speedValue['speed']
self._dynrec.update_configuration({'speed':userdata.speed})
self._succeeded = False
self._failed = False
action_goal = MoveBaseGoal()
action_goal.exploration = True
action_goal.speed = userdata.speed
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
if self._move_client.is_active(self._action_topic):
self._move_client.cancel(self._action_topic)
self._move_client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to start Exploration' % {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
def on_enter(self, userdata):
self._succeeded = False
self._failed = False
action_goal = MoveBaseGoal()
action_goal.exploration = True
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
self._move_client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to start Exploration' % {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
def on_enter(self, userdata):
self._failed = False
self._reached = False
action_goal = MoveBaseGoal()
action_goal.target_pose = userdata.waypoint
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
self._client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to send motion request to waypoint (%(x).3f, %(y).3f):\n%(err)s' % {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
Logger.loginfo('Driving to next waypoint')
def on_enter(self, userdata):
self._failed = False
self._reached = False
action_goal = MoveBaseGoal()
action_goal.target_pose = userdata.waypoint
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
self._client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn(
'Failed to send motion request to waypoint (%(x).3f, %(y).3f):\n%(err)s'
% {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
Logger.loginfo('Driving to next waypoint')
def on_enter(self, userdata):
speedValue = self._dynrec.get_configuration(timeout = 0.5)
if speedValue is not None:
self._defaultspeed = speedValue['speed']
self._dynrec.update_configuration({'speed':userdata.speed})
self._startTime = Time.now()
self._failed = False
self._reached = False
#goal_id = GoalID()
#goal_id.id = 'abcd'
#goal_id.stamp = Time.now()
action_goal = MoveBaseGoal()
action_goal.target_pose = userdata.waypoint
action_goal.speed = userdata.speed
action_goal.reverse_allowed = self._allow_backwards
if action_goal.target_pose.header.frame_id == "":
action_goal.target_pose.header.frame_id = "world"
try:
self._move_client.send_goal(self._action_topic, action_goal)
#resp = self.set_tolerance(goal_id, 0.2, 1.55)
except Exception as e:
Logger.logwarn('Failed to send motion request to waypoint (%(x).3f, %(y).3f):\n%(err)s' % {
'err': str(e),
'x': userdata.waypoint.pose.position.x,
'y': userdata.waypoint.pose.position.y
})
self._failed = True
Logger.loginfo('Driving to next waypoint')
