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edit goal subscriber topic, add goal_pub node termination, improve readme.txt #5

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edit goal subscriber topic, add goal_pub node termination, improve readme.txt #5

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40d9759
add ros ok termination condition
sfchik Jun 11, 2017
a01d2d2
changed goal subscriber topic
sfchik Jun 11, 2017
4a877f8
add commend to run goal_pub node
sfchik Jun 11, 2017
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2 changes: 2 additions & 0 deletions README.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@ $ catkin_make
**running the examples scenarios**

some examples scenarios (using stage) are provided in worlds/
run goal node setting eg. x = 1, y = 10 with
$ rosrun riskrrt goal_pub 1 10
run the scenario with
$ roslaunch riskrrt scenario_name.launch
change the planner behavior by modifying the parameters in params/riskrrt_params.yaml
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2 changes: 1 addition & 1 deletion riskrrt/src/goal_pub.cpp
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Expand Up @@ -23,7 +23,7 @@ int main(int argc, char **argv)
ros::Rate loop_rate(100);


while(goal_pub.getNumSubscribers() == 0){
while(goal_pub.getNumSubscribers() == 0 && ros::ok()){
loop_rate.sleep();
}

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2 changes: 1 addition & 1 deletion riskrrt/src/riskrrt.cpp
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Expand Up @@ -644,6 +644,6 @@ void RRT::goalCallback(const geometry_msgs::PoseStamped::ConstPtr& msg){
}

void RRT::initGoalSub(){
goalSubscriber = nodeHandle.subscribe("/goal", 1, &RRT::goalCallback, this);
goalSubscriber = nodeHandle.subscribe("goal", 1, &RRT::goalCallback, this);
}
//end of subscribers initializations and callbacks