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})
+ self.dynreconf.update_configuration({'max_vel_x': 1.0, 'max_vel_theta': 1.2, 'min_in_place_vel_theta': 1.0})
rospy.loginfo("Waiting for the move_base action server to come up")
self.move_base.wait_for_server()
if self.move_base.get_state() == GoalStatus.SUCCEEDED:
rospy.loginfo("The base moved to (%f, %f)" % (lat, lon))
else:
- rospy.logerr("The base failed to (%f, %f)" % (lat, lon))
+ rospy.logerr("The base failed to (%f, %f). Error: %d" % (lat, lon, self.move_base.get_state()))
exit(1)
def on_shutdown(self):