mirrors/rviz_navi_multi_goals_pub_plugin
1
0
Fork 0
mirror of https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin.git synced 2026-01-12 03:15:02 +08:00
Code Issues Packages Projects Releases Wiki Activity

update

Browse Source 
rectify the problem of consecutive publishing goals
This commit is contained in:
Ryoo
2020-10-28 15:35:47 +08:00
parent fe70335a92
commit 895b5bc27a
1 changed files with 13 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
navi_multi_goals_pub_rviz_plugin/src/multi_navi_goal_panel.cpp
View File

@@ -271,22 +271,25 @@ namespace navi_multi_goals_pub_rviz_plugin {
//check the current state of goal
bool MultiNaviGoalsPanel::checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list) {
bool done;
int goal_status;
if (!status_list.empty()) {
for (auto &i : status_list) {
if (i.status == 3) {
goal_status = status_list.at(0).status;
switch (goal_status) {
case 0:
done = true;
break;
case 3 :
done = true;
ROS_INFO("completed Goal%d", curGoalIdx_);
} else if (i.status == 4) {
break;
case 4:
ROS_ERROR("Goal%d is Invalid, Navi to Next Goal%d", curGoalIdx_, curGoalIdx_ + 1);
return true;
} else if (i.status == 0) {
done = true;
} else if (i.status == 1) {
cur_goalid_ = i.goal_id;
break;
default :
done = false;
} else done = false;
break;
}
} else {
ROS_INFO("Please input the Navi Goal");
done = false;
@@ -294,7 +297,7 @@ namespace navi_multi_goals_pub_rviz_plugin {
return done;
}
// spin for subscribing
// spin for subscribing
void MultiNaviGoalsPanel::startSpin() {
if (ros::ok()) {
ros::spinOnce();