gps_follow_waypoints:

- go to next goal if close to 1m
- set speeds before start
- cancel all goals before shutdown

diff --git a/scripts/gps_follow_waypoints.py b/scripts/gps_follow_waypoints.py
index 3ac75a0e523474e5db59b538fb87f0ca051655c7..d3a0b5e28d8f482f960c7d58f183b838909af332 100755 (executable)
--- a/scripts/gps_follow_waypoints.py
+++ b/scripts/gps_follow_waypoints.py
@@ -6,6 +6,8 @@ import rospy
 import tf
 import actionlib
 import tf2_ros
+import dynamic_reconfigure.client
+import numpy as np
 from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
 from actionlib_msgs.msg import GoalStatus
 from geodesy import utm
@@ -14,10 +16,16 @@ from math import *
 class GPSGotoCoords:
        def __init__(self):
                rospy.init_node('gps_goto_coords')
+               rospy.on_shutdown(self.on_shutdown)
+
                self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
                self.tfBuffer = tf2_ros.Buffer()
                self.listener = tf2_ros.TransformListener(self.tfBuffer)
 
+               rospy.loginfo("Setting paramters")
+               self.dynreconf = dynamic_reconfigure.client.Client("/move_base/TrajectoryPlannerROS")
+               self.dynreconf.update_configuration({'max_vel_x': 0.5, 'max_vel_theta': 1.0})
+
                rospy.loginfo("Waiting for the move_base action server to come up")
                self.move_base.wait_for_server()
                rospy.loginfo("Got move_base action server")
@@ -44,7 +52,14 @@ class GPSGotoCoords:
                goal.target_pose.pose.orientation.w = odom_quat[3]
                self.move_base.send_goal(goal)
 
-               self.move_base.wait_for_result()
+               while not self.move_base.wait_for_result(rospy.Duration(1.0)) and not rospy.is_shutdown():
+                       # Get the current position
+                       pos = self.tfBuffer.lookup_transform("utm", 'base_link', rospy.Time(0), rospy.Duration(2.0))
+                       # Cancel if we are close enough to goal
+                       if np.linalg.norm([point.northing - pos.transform.translation.y, point.easting - pos.transform.translation.x]) < 1:
+                               rospy.loginfo("Goal within 1m, canceling")
+                               self.move_base.cancel_goal()
+                               return
 
                if self.move_base.get_state() == GoalStatus.SUCCEEDED:
                        rospy.loginfo("The base moved to (%f, %f)" % (lat, lon))
@@ -52,11 +67,17 @@ class GPSGotoCoords:
                        rospy.logerr("The base failed to (%f, %f)" % (lat, lon))
                        exit(1)
 
+       def on_shutdown(self):
+               rospy.loginfo("Canceling all goals")
+               self.move_base.cancel_all_goals()
+
        def run(self, sCSVFile):
                f = open(sCSVFile)
                for line in f:
                        pos = line.split(",")
                        self.next_pos(float(pos[0]), float(pos[1]))
+                       self.move_base.cancel_all_goals()
+
 
 if __name__ == "__main__":
        p = GPSGotoCoords()