Hello,
I have been off the site for a little while but am trying to get started again!
I restarted my program and noticed that while my sensor is distance is decreasing, it is doing so very slowly and not keeping up with my gazebo robot. By the time my turtebot hits the wall, I am at a distance of 0.87 or so. Is it not updating fast enough? Codes below
Also - not as critical, but im never able to get to the 4th checkpoint ( print point 4 completed) on my action client. It isnt creating issues but is driving my crazy!
actionclinet:
#! /usr/bin/env python
import rospy
import actionlib
import turtle2.msg
from turtle2.msg import turtlemvmtAction, turtlemvmtGoal, turtlemvmtResult, turtlemvmtFeedback
import rospy
import sensor_msgs.msg
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
from std_msgs.msg import String
class ActionClient(): #prereq instead of of object , or self???
def __init__(self, dist): #Constructors are used to initialize the object’s state. The task of constructors is to initialize(assign values) to the data members of the class when an object of class is created. Like methods, a constructor also contains collection of statements(i.e. instructions) that are executed at time of Object creation. It is run as soon as an object of a class is instantiated. The method is useful to do any initialization you want to do with your object.
self.dist = dist
self.sub = rospy.Subscriber('/scan', LaserScan, self.callback)
rate = rospy.Rate(100)
def callback(self, msg) :
self.dist = (msg.ranges[180])
print ("point 1", self.dist)
self.call_server()
def feedback_cb(self):
print ("point 4: completed")
def call_server(self):
print ("point 2, server called")
print ("point 3", self.dist)
self.client = actionlib.SimpleActionClient('sharedspace', turtlemvmtAction)
self.client.wait_for_server()
self.goal = turtlemvmtGoal()
self.goal.ranges = float(self.dist)
print ("point3a", self.goal.ranges)
self.client.send_goal(self.goal, feedback_cb = self.feedback_cb)
self.client.wait_for_result(timeout=rospy.Duration(1))
result = self.client.get_result()
return result
if __name__ == '__main__':
try:
rospy.init_node('action_client')
j = ActionClient(dist=[])
print ('The result is:', )
rospy.spin()
except rospy.ROSInterruptException as e:
print ('Something went wrong:', e)
actionserver:
#! /usr/bin/env python
import turtle2.msg
from turtle2.msg import turtlemvmtAction, turtlemvmtFeedback, turtlemvmtResult, turtlemvmtGoal
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
from std_msgs.msg import String
import actionlib
import actionlib_tutorials.msg
class ActionServer(object):
# create messages that are used to publish feedback/result
#feedback = turtle2.msg.turtlemvmtFeedback()
#result = turtle2.msg.turtlemvmtResult()
#goal = turtle2.msg.turtlemvmtGoal()
def __init__(self):
self._as = actionlib.SimpleActionServer('sharedspace', turtlemvmtAction, execute_cb=self.execute_cb, auto_start = False)
self.pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.Twistobj = Twist()
self._as.start()
print ("executing1 @ ",)
def execute_cb(self, goal):
print ("executing2")
success = True
feedback = turtlemvmtFeedback()
result = turtlemvmtResult()
rate = rospy.Rate(100)
while True:
if self._as.is_preempt_requested():
self._as.set_preempted()
success = False
break
if float(goal.ranges) > 0.3:
self.Twistobj.linear.x = .002
self.Twistobj.linear.y = 0
self.Twistobj.linear.z = 0
self.Twistobj.angular.x = 0
self.Twistobj.angular.y = 0
self.Twistobj.angular.z = 0
self.pub.publish(self.Twistobj)
print("goal 1 @", goal.ranges)
continue
elif float(goal.ranges) <0.2:
self.Twistobj.linear.x = .01
self.Twistobj.linear.y = 0
self.Twistobj.linear.z = 0
self.Twistobj.angular.x = 20
self.Twistobj.angular.y = 0
self.Twistobj.angular.z = 0
self.pub.publish(self.Twistobj)
print("goal 2 @", goal.ranges)
continue
elif 0.2 < float(goal.ranges) < 0.5:
self.Twistobj.linear.x = .02
self.Twistobj.linear.y = 0
self.Twistobj.linear.z = 0
self.Twistobj.angular.x = 20
self.Twistobj.angular.y = 0
self.Twistobj.angular.z = 0
self.pub.publish(self.Twistobj)
print("goal 3 @", goal.ranges)
continue
feedback.last_dish_washed = last_dish_washed
result.dishes_washed.append(last_dish_washed)
self._as.publish_feedback(feedback)
rate.sleep()
if success:
self._as.set_succeeded(self._result)
if __name__ == '__main__':
rospy.init_node('action_server')
server = ActionServer()
rospy.spin()
