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Planning: if use_action_for_goal is true, wait for move_base status before sending goal status. Updated patrol.py

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matlabbe
2019-01-15 18:12:11 -05:00
parent 19433f809f
commit ba5738354d
3 changed files with 16 additions and 10 deletions
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scripts/patrol.py
+4 -2
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@@ -4,7 +4,7 @@ import sys
from std_msgs.msg import Bool
from rtabmap_ros.msg import Goal
pub = rospy.Publisher('/rtabmap/goal_node', Goal, queue_size=1)
pub = rospy.Publisher('rtabmap/goal_node', Goal, queue_size=1)
waypoints = []
currentIndex = 0
waitingTime = 1.0
@@ -41,13 +41,15 @@ def callback(data):
def main():
rospy.init_node('patrol', anonymous=False)
rospy.Subscriber("/rtabmap/goal_reached", Bool, callback)
sub = rospy.Subscriber("rtabmap/goal_reached", Bool, callback)
global waitingTime
waitingTime = rospy.get_param('~time', waitingTime)
rospy.sleep(1.) # make sure that subscribers have seen this node before sending a goal
rospy.loginfo(rospy.get_caller_id() + ": Waypoints: [%s]", str(waypoints).strip('[]'))
rospy.loginfo(rospy.get_caller_id() + ": time: %f", waitingTime)
rospy.loginfo(rospy.get_caller_id() + ": publish goal on %s", pub.resolved_name)
rospy.loginfo(rospy.get_caller_id() + ": receive goal status on %s", sub.resolved_name)
# send the first goal
msg = Goal()