Planner Node

Brief explanation of this node:

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

Service:

GET_POSE to get position from ‘robot_state’ node

Param:

Get PLANNER_POINTS Get ENVIRONMENT_SIZE

class scripts.planner.PlaningAction[source]
This class has:

  1. An action server to simulate motion planning.

2. Given a target position, it retrieve the current robot position from the robot-state node, and return a plan as a set of via points.

execute_callback(goal)[source]
This function does:

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

  2. Will return a list of points (i.e., the plan) when the fist point is the current robot position (retrieved from the robot-state node), while the last point is the goal position (given as input parameter).

Parameters

goal (float) – target position of robot