Create an action client/server implementation #4
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Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Fixed publication in sensor plugin
Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments
Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Change action file Create a controller to follow lines in autorace map Solved color sensor problem, added action server and client Changed actionlib related files Fixing conflicts Added launch file Added comments to the controller
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@ernestmc Ready for review! |
ernestmc
suggested changes
Nov 27, 2019
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| self.move_forward() | ||
| self.stuck_flag = False |
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Can this be replaced by calling solve_stuck()?
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| if not self.stuck_flag: | ||
| self.stuck_timer = rospy.Time.now() | ||
| self.stuck_flag = True | ||
| if rospy.Time.now() - self.stuck_timer > rospy.Duration(5, 0) and self.stuck_flag: | ||
| self.solve_stuck() |
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you are doing the same as above. Looks like it is worth putting all this inside the solve_stuck() method?
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The flag is to record when the robot is not moving forward in a time, it get force to go forward a little bit, are you telling me to do that check in the solve_stuck() method?
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Original PR was merged by mistake and closed, the original link is https://github.com/stevendes/create_autonomy/pull/3
Update
Created an action-client/action server implementation
Addressed all the comments from mentioned PR
How it works
Launch the autorace map from the ca_gazebo package
roslaunch ca_gazebo create_autorace.launchLaunch the robot controller, the action client and the action server from the ca_tools package
roslaunch ca_tools action_launch.launchThe
action_launch.launchfile accepts parameters for the goal, these are:goal_seconds,goal_pos_xandgoal_pos_y