... | ... | @@ -267,14 +267,14 @@ class RandomExploration(Node): |
|
|
self._send_goal_future.add_done_callback(self.goal_response_callback)
|
|
|
|
|
|
def goal_response_callback(self, future):
|
|
|
goal_handle = future.result()
|
|
|
if not goal_handle.accepted:
|
|
|
self._goal_handle = future.result()
|
|
|
if not self._goal_handle.accepted:
|
|
|
self.get_logger().info('Goal rejected :(')
|
|
|
return
|
|
|
|
|
|
self.get_logger().info('Goal accepted :)')
|
|
|
|
|
|
self._get_result_future = goal_handle.get_result_async()
|
|
|
self._get_result_future = self._goal_handle.get_result_async()
|
|
|
self._get_result_future.add_done_callback(self.get_result_callback)
|
|
|
|
|
|
def get_result_callback(self, future):
|
... | ... | @@ -284,7 +284,7 @@ class RandomExploration(Node): |
|
|
print(feedback_msg.feedback)
|
|
|
self.get_logger().info('Received feedback: {0}'.format(feedback_msg.feedback.navigation_time))
|
|
|
if feedback_msg.feedback.navigation_time.sec > 60:
|
|
|
self._action_client.cancel_goal()
|
|
|
self._goal_handle.cancel_goal()
|
|
|
rclpy.shutdown()
|
|
|
|
|
|
|
... | ... | |