mirrors/rviz_navi_multi_goals_pub_plugin
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update

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rectify the problem of consecutive publishing goals
This commit is contained in:
Ryoo
2020-10-28 17:07:31 +08:00
parent f80157b500
commit 96ed850dde
1 changed files with 9 additions and 10 deletions
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19
navi_multi_goals_pub_rviz_plugin/src/multi_navi_goal_panel.cpp
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@@ -61,7 +61,7 @@ namespace navi_multi_goals_pub_rviz_plugin {
setLayout(root_layout);
// set a Qtimer to start a spin for subscriptions
QTimer *output_timer = new QTimer(this);
output_timer->start(200);
output_timer->start(500);
// 设置信号与槽的连接
connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
@@ -271,21 +271,20 @@ 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()) {
goal_status = status_list.at(0).status;
switch (goal_status) {
case 3 :
for (auto &i : status_list) {
if (i.status == 3) {
done = true;
ROS_INFO("completed Goal%d", curGoalIdx_);
break;
case 4:
} else if (i.status == 4) {
ROS_ERROR("Goal%d is Invalid, Navi to Next Goal%d", curGoalIdx_, curGoalIdx_ + 1);
return true;
} else if (i.status == 0) {
done = true;
break;
default :
} else if (i.status == 1) {
cur_goalid_ = i.goal_id;
done = false;
break;
} else done = false;
}
} else {
ROS_INFO("Please input the Navi Goal");