Functions
def	new_target_to_move_base (target_position)
	send the goal to MoveBase. More...

def	srv_user_target (data)
	implementation of the service '/user_target' More...

def	main ()
	a simple spin. More...

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

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

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

string	name_user_target = "/user_target"

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

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

int	min_distance_from_the_target = 2
	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...

Function Documentation

◆ cbk_on_shutdown()

def reach_user_pos_service.cbk_on_shutdown ( )

This is called on the shutdown of the node.

Definition at line 137 of file reach_user_pos_service.py.

◆ main()

def reach_user_pos_service.main ( )

a simple spin.

Definition at line 129 of file reach_user_pos_service.py.

◆ new_target_to_move_base()

def reach_user_pos_service.new_target_to_move_base ( target_position )

send the goal to MoveBase.

Parameters

target_position (geometry_msgs/Point)

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

Definition at line 68 of file reach_user_pos_service.py.

◆ srv_user_target()

def reach_user_pos_service.srv_user_target ( data )

implementation of the service '/user_target'

Parameters

data	(final_assignment/user_targetRequest) the goal from the user

get from the user a target, then reach it.
BLOCKING SERVER : the server doesn't return until some error occurrs, or the target has been reached.

See also : /user_target service How to use it.

Definition at line 99 of file reach_user_pos_service.py.

Variable Documentation

◆ cycle_time

reach_user_pos_service.cycle_time = rospy.Duration( 0, 500 )

time between two cycles

Definition at line 53 of file reach_user_pos_service.py.

◆ min_distance_from_the_target

int reach_user_pos_service.min_distance_from_the_target = 2

tolerance on the distance from the target

Definition at line 50 of file reach_user_pos_service.py.

◆ name_check_position

string reach_user_pos_service.name_check_position = "/check_position"

name of the service 'check_position'

Definition at line 46 of file reach_user_pos_service.py.

◆ name_move_base

string reach_user_pos_service.name_move_base = "/move_base/goal"

name of the topic 'move_base/goal' (Publisher)

Definition at line 37 of file reach_user_pos_service.py.

◆ name_user_target

string reach_user_pos_service.name_user_target = "/user_target"

Definition at line 40 of file reach_user_pos_service.py.

◆ node_name

string reach_user_pos_service.node_name = "reach_user_pos_service"

name of this node

Definition at line 34 of file reach_user_pos_service.py.

◆ srv_check_position

reach_user_pos_service.srv_check_position = None

call-point of the service 'check_position'

Definition at line 86 of file reach_user_pos_service.py.

◆ topic_move_base

reach_user_pos_service.topic_move_base = None

handler topic 'move_base/goal' (Publisher)

Definition at line 43 of file reach_user_pos_service.py.

Functions

Variables