rg_get_target_srv

SERVICE - rg_get_target_srv

Provided by:

• rg_services.cpp
• rg_services_py.py

Used by:

• rg_controller.cpp
• rg_controller_py.py

Semantic

The robot controller calls this service when it needs a new target to reach, which must be inside the square space of the simulation environment.

The controller sends the bounds to the service, and it replies with a geometry_msgs/Point message which is the randomly generated target inside the space.

Service code

##  service file name 'rg_get_target_srv'
#       Request : the limits from the origin
#       the space is an area (xmax - xmin)*(ymax - ymin) rectangle, centered in the origin
 
float64 xmin
float64 xmax
float64 ymin
float64 ymax
 
---
 
# Response: the new target to be reached
geometry_msgs/Point xt