[ros-users] [Pr2-users] move_base SimpleActionClient

[Eitan Marder-Eppstein]

Dejan,

I'm not sure I quite understood the question. Are you seeing the message
"Error in moving to goal pose..." 5 times, just that the first time takes 15
seconds and the others happen back-to-back? If so, that may be a bug in
move_base and I'll have a look. If you're not seeing that message print 5
times then it could be a problem in actionlib, which I can also look at.
>From glancing briefly at your code, I'd expect things to work.

Let me know and hope all is well,

Eitan

On Sat, Oct 9, 2010 at 5:26 PM, Dejan Pangercic
<dejan.pangercic at gmail.com>wrote:

> Hi there,
>
> I am using "move_base" SimpleActionClient and I have a problem that it
> sort of randomly fails (due to unstable/hallucinated percepts).
> Using below code I wanted to make it retry 5 times. It however does
> not do so (It was supposed to be retrying for 15 seconds each time, it
> however does so only in the first go). What am I doing wrong?
> CODE:
> void moveRobot(geometry_msgs::Pose goal_pose)
> {
>  int count = 0;
>  while (count < 5)
>    {
>      actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>
> ac("move_base", true);
>
>      //wait for the action server to come up
>      while(!ac.waitForServer(ros::Duration(5.0)))
>        {
>          ROS_INFO("Waiting for the move_base action server to come up");
>        }
>      move_base_msgs::MoveBaseGoal goal;
>      goal.target_pose.header.frame_id = "/map";
>      goal.target_pose.header.stamp = ros::Time::now();
>
>      if (count == 0)
>        goal.target_pose.pose = goal_pose;
>      else
>        {
>          goal_pose.orientation.z =  goal_pose.orientation.z + 0.01;
>          goal.target_pose.pose = goal_pose;
>        }
>      ROS_INFO("Sending goal");
>      ac.sendGoal(goal);
>      ac.waitForResult();
>
>      ROS_INFO("Pose Position x: %f, y:%f, z:%f Orientation x:%f,
> y:%f, z:%f, w:%f", goal.target_pose.pose.position.x,
>               goal.target_pose.pose.position.y,
> goal.target_pose.pose.position.z, goal.target_pose.pose.orientation.x,
>               goal.target_pose.pose.orientation.y,
> goal.target_pose.pose.orientation.z,
> goal.target_pose.pose.orientation.w);
>
>      actionlib::SimpleClientGoalState state = ac.getState();
>      if(state == actionlib::SimpleClientGoalState::SUCCEEDED)
>        {
>          ROS_INFO("Robot has moved to the goal pose");
>          count = 10;
>        }
>      else
>        {
>          count++;
>          ROS_ERROR("Error in moving robot to goal pose: %s. Retrying
> %d time", state.toString().c_str(), count);
>          sleep(1);
>        }
>    }
>  if (count == 5)
>    {
>      ROS_ERROR("Plan aborted, exiting!!!");
>      exit(1);
>    }
> }
>
>
> cheers, d.
>
> --
> MSc. Dejan Pangercic
> PhD Student/Researcher
> Intelligent Autonomous Systems Group
> Technische Universität München
> Telephone: +49 (89) 289-26908
> E-Mail: dejan.pangercic at cs.tum.edu
> WWW: http://ias.cs.tum.edu/people/pangercic
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