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feat(navigation): cancel current movement if new request is received #41

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Merged
francWhite merged 1 commit into from
Dec 14, 2023
Merged

feat(navigation): cancel current movement if new request is received #41

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6 changes: 6 additions & 0 deletions apps/ros2/src/raros/raros/navigation/navigation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,8 @@ def move_action_callback(self, goal_handle: ServerGoalHandle):
request: Move.Goal = goal_handle.request
self.get_logger().info(f'executing goal: "{request}"')

self.stop_publisher.publish(EmptyMsg())

feedback_msg = Move.Feedback()
feedback_msg.remaining_distance = request.distance
goal_handle.publish_feedback(feedback_msg)
Expand Down Expand Up @@ -65,6 +67,8 @@ def rotate_action_callback(self, goal_handle: ServerGoalHandle):
request: Rotate.Goal = goal_handle.request
self.get_logger().info(f'executing goal: "{request}"')

self.stop_publisher.publish(EmptyMsg())

feedback_msg = Rotate.Feedback()
feedback_msg.remaining_angle = request.angle
goal_handle.publish_feedback(feedback_msg)
Expand Down Expand Up @@ -96,6 +100,8 @@ def turn_action_callback(self, goal_handle: ServerGoalHandle):
request: Turn.Goal = goal_handle.request
self.get_logger().info(f'executing goal: "{request}"')

self.stop_publisher.publish(EmptyMsg())

feedback_msg = Turn.Feedback()
feedback_msg.remaining_angle = request.angle
goal_handle.publish_feedback(feedback_msg)
Expand Down
6 changes: 4 additions & 2 deletions apps/ros2/src/raros/raros/navigation/observe_action.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
import uuid
from typing import Callable, Any

from action_msgs.msg import GoalStatus
from raros_interfaces.msg import StepperFeedback, StepperStatus
from rclpy import qos
from rclpy.action.server import ServerGoalHandle
Expand All @@ -8,7 +10,7 @@

class ObserveAction(Node):
def __init__(self, goal_handle: ServerGoalHandle, create_feedback_msg_callback: Callable[[StepperFeedback], Any]):
super().__init__('observe_action', use_global_arguments=False)
super().__init__(f'observe_action_{uuid.uuid4().hex}', use_global_arguments=False)
self.goal_handle = goal_handle
self.create_feedback_msg_callback = create_feedback_msg_callback

Expand All @@ -26,7 +28,7 @@ def __init__(self, goal_handle: ServerGoalHandle, create_feedback_msg_callback:

def status_callback(self, msg: StepperStatus):
self.get_logger().info(f'received: "{msg}"')
if msg.moving is False:
if msg.moving is False and self.goal_handle.status == GoalStatus.STATUS_EXECUTING:
self.goal_handle.succeed()

def feedback_callback(self, msg: StepperFeedback):
Expand Down