Planner 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 plan to PlanAction. Use planner_client_callback to substitute new data.
- Service:
SET_POSE to set just inital position to ‘robot_state’ node
- Publishe :
/path to PlanResult
- Subscribe to:
/target_point to PlanGoal
- scripts.planner_client.planner_client(x, y)[source]
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.PlanAction”
- Parameters
x (float) – x-coordinate of target
y (float) – y-coordinate of target
- Returns
get result
- Return type
msg