7.13.6. robot_control.GoToWaypoint

class robot_control.GoToWaypoint(*args: Any, **kwargs: Any)

Bases: State

Moves the robot to a given waypoint.

Returns:

‘succeeded’: If the robot reached the waypoint. ‘aborted’: If the robot could not reach the waypoint, either because action took to long and timed out or because the connection to the move server could not be established.

Return type:

smach-result

__init__(x, y, phi_degree, frame_id='map', timeout=30.0)

Initializes the GoToWaypoint state. Sets the target pose and frame_id.

Parameters:

  • x (float) – x-coordinate of the target pose in meters

  • y (float) – y-coordinate of the target pose in meters

  • phi_degree (float) – Rotation around the z-axis in degrees of the target pose

  • frame_id (str) – The frame_id of the target pose.

  • timeout (float) – Timeout in seconds. The state will abort if the robot does not reach the target pose in this time.

Methods

__init__(x, y, phi_degree[, frame_id, timeout])

Initializes the GoToWaypoint state.

execute(userdata)