asr_vosk: Allow to handle keyword and command in one sentence
[ros_wild_thumper.git] / scripts / gps_follow_waypoints.py
index d3a0b5e..78eaea5 100755 (executable)
@@ -24,7 +24,7 @@ class GPSGotoCoords:
 
                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()
@@ -64,7 +64,7 @@ class GPSGotoCoords:
                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):