Background process: ask for a target, then reach it using move_base More...

Namespaces
	reach_random_pos_service

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

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

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 . More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Detailed Description

Background process: ask for a target, then reach it using move_base

Author: Francesco Ganci (S4143910)

Version: 1.0

Date: 2021-06-25

This ROS node implements the move_base version of the functionality [no.1] reach_random_pos_service, executed in background.
The interface is made up of 2 services:

/reach_random_pos_switch : turn on and off the service.
/reach_random_pos_status : inspect the progress of the motion towards the goal, and other informations.

When the node is active, it ciclically asks for a target to /get_point service, then sends to move_base the goal and reached is. move_base is not interruptable in this implementation, so when the stop command is raised, the command is marked as in progress until the robot has reached the last set target.
This node is implemented as a parallel process: services are always non-blocking, so the caller process can do other things while the robot is moving.

See also:

User Console Component
/reach_random_pos_switch service
/reach_random_pos_status service
bug0, an alternative to move_base with a very similar interface.

Definition in file reach_random_pos_service.py.

Namespaces

Functions

Variables

Detailed Description