Delete patrol.py~

scripts/patrol.py~

@@ -1,50 +0,0 @@
-#!/usr/bin/env python
-import rospy
-import sys
-from std_msgs.msg import Bool
-from rtabmap_ros.msg import Goal
-
-pub = rospy.Publisher('/rtabmap/goal_node', Goal, queue_size=1)
-waypoints = []
-currentIndex = 0
-
-def callback(data):
-    global currentIndex
-    if data.data:
-        rospy.loginfo(rospy.get_caller_id() + "Goal %d reached! Publishing next goal in 1 sec...", int(waypoints[currentIndex]))
-        currentIndex = (currentIndex+1) % len(waypoints)
-    else:
-        rospy.loginfo(rospy.get_caller_id() + "Goal %d failed! Retrying in 1 sec...", int(waypoints[currentIndex]))
-        rospy.sleep(1.)
-
-    msg = Goal()
-    msg.node_id = int(waypoints[currentIndex])
-    msg.node_label = ""
-    msg.header.stamp = rospy.get_rostime()
-    rospy.loginfo("Publishing goal %d! (%d/%d)", msg.node_id, currentIndex+1, len(waypoints))
-    pub.publish(msg)
-
-def main():
-    rospy.init_node('patrol', anonymous=True)
-    rospy.Subscriber("/rtabmap/goal_reached", Bool, callback)
-    rospy.sleep(1.) # make sure that subscribers have seen this node before sending a goal
-
-    # send the first goal
-    msg = Goal()
-    msg.node_id = int(waypoints[currentIndex])
-    msg.node_label = ""
-    while rospy.Time.now().secs == 0:
-         rospy.loginfo("Waiting clock...")
-         rospy.sleep(.1)
-    msg.header.stamp = rospy.Time.now()
-    rospy.loginfo("Publishing goal %d! (%d/%d)", msg.node_id, currentIndex+1, len(waypoints))
-    pub.publish(msg)
-    rospy.spin()    
-
-if __name__ == '__main__':
-    if len(sys.argv) < 3:
-        print("usage: patrol.py waypointA waypointB waypointC ... (at least 2 waypoints)")
-    else:
-        waypoints = sys.argv[1:] 
-        rospy.loginfo("Waypoints: [%s]", str(waypoints).strip('[]'))
-        main()