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

[Eitan Marder-Eppstein]

OK... I'll take a look at move_base and see if I can reproduce this.

-Eitan

On Mon, Oct 11, 2010 at 3:57 PM, Dejan Pangercic
<dejan.pangercic at gmail.com>wrote:

> Hi Eitan,
> yup, your understanding is correct. I see message "Error in moving to
> goal pose..." 5 times, just that the first time takes 15 seconds and
> the others happen back-to-back.
> d.
> On Tue, Oct 12, 2010 at 12:50 AM, Eitan Marder-Eppstein
> <eitan at willowgarage.com> wrote:
> > 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
> >> _______________________________________________
> >> PR2-users mailing list
> >> PR2-users at lists.willowgarage.com
> >> http://lists.willowgarage.com/cgi-bin/mailman/listinfo/pr2-users
> >
> >
>
>
>
> --
> 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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