Functions
def	reach_random_pos ()
	Implementation of the command reach_random_pos [no.1]. More...

def	stop_reach_random_pos ()
	Stop the background process `reach_random_pos` More...

def	reach_user_pos ()
	Implementation of the command reach_user_pos [no.2]. More...

def	reach_user_pos_bug0 (target)
	Send manually a goal to bug0. More...

def	wall_follow (val=True)
	Implementation of the command wall_follow [no.3]. More...

def	last_pos ()
	Implementation of the command last_pos [no.4]. More...

def	change_motion_planning_algorithm ()
	Implementation of the command change_motion_planning_algorithm [no.5]. More...

def	print_help ()
	Implementation of the command help [no.6]. More...

def	main ()
	Ask the next command to the user. More...

def	cbk_on_shutdown ()
	Called when the shutdown signal is raised. More...

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

string	name_wall_follower_switch = "/wall_follower_switch"
	name of the server 'wall_follower_switch' More...

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

string	name_user_target = "/user_target"
	name of the service 'user_target' More...

string	name_position_defined = "/position_defined"
	name of the service 'position_defined' More...

string	name_bug0_switch = "/bug0_switch"
	name of the service 'bug0_switch' More...

string	name_bug0_status = "/bug0_status"
	name of the service 'bug0_status' More...

list	commands
	available commands More...

list	commands_info
	infos about each command More...

int	last_command_idx = -1
	last command index More...

bool	robot_busy = False
	is there any movement ongoing? More...

bool	reach_random_pos_active = False
	is reach_random_pos active? More...

bool	wall_follow_active = False
	is wall follow active? More...

bool	use_bug0 = False
	use bug0 or move_base More...

	srv_wall_follower_switch = None
	call point of the server 'wall_follower_switch' More...

	srv_reach_random_pos_switch = None
	call-point of the service 'reach_random_pos_switch' More...

	srv_user_target = None
	entry point of the service 'user_target' More...

	srv_position_defined = None
	call-point of the service 'position_defined' More...

	srv_bug0_switch = None
	call-point of the service 'bug0_switch' More...

	srv_bug0_status = None
	call-point of the service 'bug0_status' More...

Function Documentation

◆ cbk_on_shutdown()

def user_console.cbk_on_shutdown ( )

Called when the shutdown signal is raised.

Definition at line 473 of file user_console.py.

◆ change_motion_planning_algorithm()

def user_console.change_motion_planning_algorithm ( )

Implementation of the command change_motion_planning_algorithm [no.5].

select a motion planning algorithm between bug0 and move_base.

Definition at line 328 of file user_console.py.

◆ last_pos()

def user_console.last_pos ( )

Implementation of the command last_pos [no.4].

Interrupts any ongoing background task whih makes the robot busy.

Definition at line 300 of file user_console.py.

◆ main()

def user_console.main ( )

Ask the next command to the user.

This function implements a simple while-switch pattern for receiving command from the command line.
Commands are all case-insensitive. Also corresponding numbers are allowed (lazy mode).

Definition at line 410 of file user_console.py.

◆ print_help()

def user_console.print_help ( )

Implementation of the command help [no.6].

The function prints an help on the screen.

Definition at line 363 of file user_console.py.

◆ reach_random_pos()

def user_console.reach_random_pos ( )

Implementation of the command reach_random_pos [no.1].

This function selects the node to activate between move_base and bug0. Then, it sends the proper switch message to the selected motion planning algorithm.

Definition at line 100 of file user_console.py.

◆ reach_user_pos()

def user_console.reach_user_pos ( )

Implementation of the command reach_user_pos [no.2].

This function asks for a target to the user, then checks it.
If the position is contained in the set of predefined ones, the command is valid, and a message is issued to the selected motion planning algorithm.
After sent the message, the function waits until the target is reached.

Definition at line 181 of file user_console.py.

◆ reach_user_pos_bug0()

def user_console.reach_user_pos_bug0 ( target )

Send manually a goal to bug0.

Parameters

target (geometry_msgs/Point) the target to reach.

The service bug0 needs a further step: the desired target must be passed via parameter server.
So, the function writes on the parameter server, then waits until the goal is reached.

See also: service bug0 status, in particular how to use it.

Definition at line 233 of file user_console.py.

◆ stop_reach_random_pos()

def user_console.stop_reach_random_pos ( )

Stop the background process reach_random_pos

If move_base is active, the function waits until the target is reached and then turns off the node reach_random_pos_service.py. Otherwise, it immediately stops bug0.

Definition at line 137 of file user_console.py.

◆ wall_follow()

def user_console.wall_follow ( val = True )

Implementation of the command wall_follow [no.3].

Parameters

val	(bool; default: True) the state of the wall_follow service

The function simply activates the wall follow service sending to it a switch message.
The same function can turn off the service, passing False as argument.

Definition at line 267 of file user_console.py.

Variable Documentation

◆ commands

list user_console.commands

Initial value:

 =  [ "", \
   "reach_random_pos", \
   "reach_user_pos", \
   "wall_follow", \
   "last_pos", \
   "change_motion_planning_algorithm", \
   "help", \
   "exit" ]

available commands

Definition at line 51 of file user_console.py.

◆ commands_info

list user_console.commands_info

Initial value:

 =  [ "", \
   "periodically ask a position to the server, then try and reach it.", \
   "ask to the user a position, then try and reach it. ", \
   "use the component wall_follower.", \
   "Stop any ongoing movement", \
   "select your motion planning algorithm between 'move_base' and 'bug0'", \
   "print this help", \
   "Close this program." ]

infos about each command

Definition at line 61 of file user_console.py.

◆ last_command_idx

int user_console.last_command_idx = -1

last command index

Definition at line 71 of file user_console.py.

◆ name_bug0_status

string user_console.name_bug0_status = "/bug0_status"

name of the service 'bug0_status'

Definition at line 48 of file user_console.py.

◆ name_bug0_switch

string user_console.name_bug0_switch = "/bug0_switch"

name of the service 'bug0_switch'

Definition at line 45 of file user_console.py.

◆ name_position_defined

string user_console.name_position_defined = "/position_defined"

name of the service 'position_defined'

Definition at line 42 of file user_console.py.

◆ name_reach_random_pos_switch

string user_console.name_reach_random_pos_switch = "/reach_random_pos_switch"

name of the service 'reach_random_pos_switch'

Definition at line 36 of file user_console.py.

◆ name_user_target

string user_console.name_user_target = "/user_target"

name of the service 'user_target'

Definition at line 39 of file user_console.py.

◆ name_wall_follower_switch

string user_console.name_wall_follower_switch = "/wall_follower_switch"

name of the server 'wall_follower_switch'

Definition at line 33 of file user_console.py.

◆ node_name

string user_console.node_name = "user_console"

name of this node

Definition at line 30 of file user_console.py.

◆ reach_random_pos_active

bool user_console.reach_random_pos_active = False

is reach_random_pos active?

Definition at line 77 of file user_console.py.

◆ robot_busy

bool user_console.robot_busy = False

is there any movement ongoing?

Definition at line 74 of file user_console.py.

◆ srv_bug0_status

user_console.srv_bug0_status = None

call-point of the service 'bug0_status'

Definition at line 393 of file user_console.py.

◆ srv_bug0_switch

user_console.srv_bug0_switch = None

call-point of the service 'bug0_switch'

Definition at line 390 of file user_console.py.

◆ srv_position_defined

user_console.srv_position_defined = None

call-point of the service 'position_defined'

Definition at line 387 of file user_console.py.

◆ srv_reach_random_pos_switch

user_console.srv_reach_random_pos_switch = None

call-point of the service 'reach_random_pos_switch'

Definition at line 381 of file user_console.py.

◆ srv_user_target

user_console.srv_user_target = None

entry point of the service 'user_target'

Definition at line 384 of file user_console.py.

◆ srv_wall_follower_switch

user_console.srv_wall_follower_switch = None

call point of the server 'wall_follower_switch'

Definition at line 378 of file user_console.py.

◆ use_bug0

bool user_console.use_bug0 = False

use bug0 or move_base

Definition at line 83 of file user_console.py.

◆ wall_follow_active

bool user_console.wall_follow_active = False

is wall follow active?

Definition at line 80 of file user_console.py.

Functions

Variables