Controller Node

Brief explanation of this node:

Set client pose to anm.SERVER_SET_POSE service and use execute callback to construct the feedback and loop for each set of points.

Service:

SET_POSE to set postion of robot to ‘robot_state’ node

class scripts.controller.ControllingAction[source]
This class has:

  1. An SimpleActionServer to simulate motion controlling.

  2. Given a plan as a set of via points, it simulate the movements to reach each point.

  3. This server updatesthe current robot position stored in the robot-state node.

execute_callback(goal)[source]
This function does:

  1. The callback invoked when a client set a goal to the controller server.

  2. Requires a list of via points (i.e., the plan), and it simulate a movement through each point.

  3. The related robot position is updated in the robot-state node.

Arg:

goal(float): [x,y] coordinates of next destination of robot