Functions
def	update_current_position ()
	Update the informations about the position from check_position service. More...

def	clear_status ()
	clear the status of the node. More...

def	new_target_to_move_base ()
	ask a new randomly-choosen target to the server points_manager, then send to MoveBase the target to reach . More...

def	srv_reach_random_pos_switch (data)
	Turn on and off the service. More...

def	srv_reach_random_pos_status (data)
	return the status of the service. More...

def	main ()
	The algorithm of the node. More...

def	cbk_on_shutdown ()
	This is called on the shutdown of the node. More...

Variables
string	node_name = "reach_random_pos_service"
	name of this node More...

string	name_reach_random_pos_status = "/reach_random_pos_status"
	name of the service 'reach_random_pos_status' More...

string	name_reach_random_pos_switch = "/reach_random_pos_switch"
	name of the service 'reach_random_pos_switch' More...

string	name_check_position = "/check_position"
	name of the service 'check_position' More...

string	name_get_point = "/get_point"
	name of the service 'get_point' More...

string	name_move_base = "/move_base/goal"
	name of the topic 'move_base/goal' (Publisher) More...

	topic_move_base = None
	handler topic 'move_base/goal' (Publisher) More...

bool	service_active = False
	status of the node (bool; default: False) More...

bool	is_moving = False
	the robot is moving (bool; default: False) More...

bool	signal_last_pos = False
	last pos signal received (bool; default: False) More...

	actual_position = Point( )
	actual position of the robot (geometry_msgs/Point) More...

	target_position = None
	the target position (geometry_msgs/Point; default: None) More...

	last_response_check_pos = check_positionResponse( )
	response from the service 'check_position' (final_assignment/check_position) More...

float	min_distance_from_the_target = 0.5
	tolerance on the distance from the target More...

	cycle_time = rospy.Duration( 0, 500 )
	time between two cycles More...

	srv_check_position = None
	call-point of the service 'check_position' More...

	srv_get_point = None
	call-point of the service 'get_point' More...

Function Documentation

◆ cbk_on_shutdown()

def reach_random_pos_service.cbk_on_shutdown ( )

This is called on the shutdown of the node.

def reach_random_pos_service.clear_status ( )

clear the status of the node.

This is called when the service is turned off. Simple setting of booleans to 'off' state.
(not is_moving), (not signal_last_pos), (not target_pos)

def reach_random_pos_service.main ( )

The algorithm of the node.

This 'main' function contains the working algorithm of the node. Its functioning can be summarized as follows:

if the robot is moving, check the position ad evaluate the distance. If the distance is under the tolerance, set the is_moving flag to false.
If the robot is not moving, but no last_pos_signal is raised, gather a new position and set is_moving true; the cycle begins again.
If the robot is not moving and the signal_last_pos is on, turn off the node.

def reach_random_pos_service.new_target_to_move_base ( )

ask a new randomly-choosen target to the server points_manager, then send to MoveBase the target to reach .

def reach_random_pos_service.srv_reach_random_pos_status ( data )

return the status of the service.

def reach_random_pos_service.srv_reach_random_pos_switch ( data )

Turn on and off the service.

Parameters

data	(final_assignment/switch_service) the switch.

The switch has this behaviour:

Any 'turn-on' signal when the service is already active will cause the cancellation of any last_pos signal previously raised.
If the 'turn-on' signal is received and the service is off, the request always succeeds, and the service is turned on.
Any 'turn-off' signal when the node is turned off results in a not-success response
The 'turn-off' request isn't immediately executed, because in this implementation move_base is not interruptible. The request is marked as in_progress, and resolved when the robot arrives at its destination.