Commit f14b1050 authored by Niklas Yann Wettengel's avatar Niklas Yann Wettengel
Browse files

mapnav_mgs: added driveTo and detectObstacle action

parent 59c55ef1
......@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(homer_mapnav_msgs)
find_package(catkin REQUIRED
COMPONENTS message_generation nav_msgs geometry_msgs)
COMPONENTS message_generation nav_msgs geometry_msgs actionlib_msgs)
add_message_files(FILES
MapLayers.msg
......@@ -28,6 +28,11 @@ add_service_files(FILES
SaveMap.srv
)
generate_messages(DEPENDENCIES geometry_msgs nav_msgs)
add_action_files(DIRECTORY action FILES
DetectObstacle.action
DriveTo.action
)
generate_messages(DEPENDENCIES geometry_msgs nav_msgs actionlib_msgs)
catkin_package(CATKIN_DEPENDS message_runtime geometry_msgs nav_msgs)
geometry_msgs/PointStamped location
---
int32 SMALL_OBSTACLE = 0
int32 BIG_OBSTACLE = 1
int32 NO_OBSTACLE = 2
int32 result
---
# The `driveTo` action navigates to an existing POI given by `goal_location`
# up to a `distance_to_target`. Basically the `startNavigation` topic is wrapped
# into a action.
string goal_location # name of destination POI
float32 distance_to_target # distance to destination POI
bool suppress_speaking # toggles voice output, if false no debug speech is given else for starting action, target reached and target unreachable voice output is given
bool skip_final_turn
bool stop_before_obstacle
bool plan_only_on_slam_map
bool check_obstacle
---
int32 FAILED_TARGET_UNREACHABLE = 0
int32 SUCCEEDED = 2
int32 SMALL_OBSTACLE = 3
int32 BIG_OBSTACLE = 4
int32 NO_OBSTACLE = 6
int32 result
---
int32 IDLE= 0
int32 DRIVING_TO_GOAL_LOCATION= 1
int32 FINISHED= 2
float32 STEPS= 3
float32 progress
string feedback
......@@ -10,11 +10,15 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>genmsg</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>actionlib_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>message_runtime</run_depend>
......
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