def alarm_callback(self, alarm):
if alarm:
# First halt the robot
pose = generate_stamped_pose(0, 0)
path = Path()
path.poses.append(pose)
goal = pose_pathGoal(path=path)
self.client.send_goal(goal)
self.client.wait_for_result()
# Then do a turn to get out of danger
path = generate_turn_path(math.pi / 8)
goal = pose_pathGoal(path=path)
self.client.send_goal(goal)
self.client.wait_for_result()
def alarm_callback(self, alarm):
if alarm:
# First halt the robot
pose = generate_stamped_pose(0, 0)
path = Path()
path.poses.append(pose)
goal = pose_pathGoal(path=path)
self.client.send_goal(goal)
self.client.wait_for_result()
# Then do a turn to get out of danger
path = generate_turn_path(math.pi / 8)
goal = pose_pathGoal(path=path)
self.client.send_goal(goal)
self.client.wait_for_result()
def do_square(self):
path = generate_square_path()
goal = pose_pathGoal(path=path)
self.client.send_goal(goal)
self.client.wait_for_result()
def do_square(self):
path = generate_square_path()
goal = pose_pathGoal(path=path)
self.client.send_goal(goal)
self.client.wait_for_result()
