#!/usr/bin/env python
# encoding: utf-8
# 如果覺得不錯,可以推薦給你的朋友!http://tool.lu/pyc
import rospy
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion, Twist
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from tf.transformations import quaternion_from_euler
from visualization_msgs.msg import Marker
from math import radians, pi
import redis
import datetime
import os
import time
class CancelGoalListen:
def __init__(self):
rospy.init_node('cancel_goal_listen', anonymous = False)
rospy.on_shutdown(self.shutdown)
self.move_base = actionlib.SimpleActionClient('move_base', MoveBaseAction)
rospy.loginfo('Waiting for move_base action server...')
self.move_base.wait_for_server(rospy.Duration(60))
rospy.loginfo('Connected to move base server')
rospy.loginfo('Starting cancel_goal_listen')
self.cancel_pub = rospy.Publisher('move_base/cancel', GoalID, queue_size = 10)
self.r = redis.Redis(host = '127.0.0.1', port = 6379, db = 0)
self.lastState = 'stopped'
while not rospy.is_shutdown():
mycurrentState = self.r.hget('GoalState', 'currentState') //返回對應的狀態
if mycurrentState == 'stopped' and self.lastState == 'running':
mycurrentGoal = self.r.hget('GoalState', 'currentGoal') //當前的目標
mygoalQueue = self.r.hget('GoalState', 'goalQueue') //多少個目標
mymode = self.r.hget('GoalState', 'mode') //模式
if mymode == 'loop':
self.r.rpop(mygoalQueue) //彈出隊列中最後一個數據 redis語法
self.r.lpush(mygoalQueue, mycurrentGoal) //mygoalQueue插入當前目標到當前隊列的前面
rospy.loginfo('cancel current goal.')
goalId = GoalID()
self.cancel_pub.publish(goalId)
self.lastState = mycurrentState //將當前的狀態放在last
rospy.sleep(1)
def shutdown(self):
rospy.loginfo('Stopping the robot...')
self.move_base.cancel_goal() //清除目標
rospy.sleep(2)
CancelGoalListen.py
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