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#! /usr/bin/python
import rospy
import actionlib
from nav_msgs.msg import Path, Odometry
from geometry_msgs.msg import PoseStamped, Pose
from tf.transformations import quaternion_from_euler
from math import pow, atan2, sqrt
from mbf_msgs.msg import (ExePathAction, ExePathFeedback, ExePathGoal, ExePathResult)
from geometry_msgs.msg import PoseStamped
class PathFollower():
def __init__(self):
self.vel_sub = rospy.Subscriber('drive_path', Path, self.path_callback)
self.client = actionlib.SimpleActionClient('/move_base_flex/exe_path', ExePathAction)
self.got_path = 0
self.drive_path = Path()
self.path_seq = 0
self.poses = []
self.safeDist = 1.0
def path_callback(self, msg):
if self.got_path == 0:
self.drive_path = msg
self.got_path = 1
self.on_enter()
def on_enter(self):
# Create the goal.
goal = ExePathGoal()
goal.path = self.drive_path
try:
self.client.send_goal(goal)
except Exception as e:
rospy.logwarn('Failed to send goal:\n%s' % str(e))
self._error = True
def publish_point(self):
rate = rospy.Rate(5)
while not rospy.is_shutdown():
#print("")
rate.sleep()
rospy.spin()
if __name__ == '__main__':
rospy.init_node('path_follower_node')
path_follower_object = PathFollower()
try:
path_follower_object.publish_point()
except rospy.ROSInterruptException:
pass
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