Controller client Node

Brief explanation of this node:

Use controller_client function to communicate with SimpleActionServer and cancels goal in case of need, additionaly create an action client to send goal to ControlAction. Use controller_client_callback to substitute new data.

Subscribe to:

/path to get result from controller_client_callback function

scripts.controller_client.controller_client(goal)

This function it uses the SimpleActionClient to connect to server in order to send, cancel and waiting for server and create an action client called “planner_client” with action definition file “tmrc.msg.ControlAction”

Arg:

goal(float)

scripts.controller_client.controller_client_callback(data)

Function to substitute control result in controller client.

Arg:

data(float): coordinates of target room