ROS_Robot/waterplus_map_tools
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update for wpr_ simulation

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This commit is contained in:
zhangwanjie 2020-05-31 07:26:05 +08:00
parent f6db939d3a
commit 1f63b986d9
2 changed files with 18 additions and 1 deletions
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14
launch/add_waypoint_simulation.launch Normal file
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@ -0,0 +1,14 @@
<launch>
<!-- Map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find wpr_simulation)/maps/map.yaml"/>
<!-- RViz and TF -->
<arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/editwaypoints.rviz" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /map /base_link 100"/>
<!-- Map tools -->
<node pkg="waterplus_map_tools" type="wp_edit_node" name="wp_edit_node" output="screen" />
</launch>

5
src/wp_navi_server.cpp
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@ -106,10 +106,13 @@ int main(int argc, char** argv)
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Arrived at WayPoint !");
result_msg.data = "done";
}
else
{
ROS_WARN("Failed to get to WayPoint ..." );
result_msg.data = "done";
result_msg.data = "failure";
}
result_pub.publish(result_msg);
bNewCmd = false;
}