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[pr2eus] go-pos-unsafe return t when the motion is correctly executed. #491

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[pr2eus] go-pos-unsafe return t when the motion is correctly executed. #491

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6bf7d3a
go-pos-unsafe-no-wait return nil when move-base-trajectory-action
knorth55 Nov 22, 2022
848bf8f
return or value for :go-pos-unsafe
knorth55 Nov 22, 2022
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6 changes: 4 additions & 2 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -1697,8 +1697,8 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
(if wait (send move-base-trajectory-action :wait-for-result)))
))
(:go-pos-unsafe (&rest args)
(send* self :go-pos-unsafe-no-wait args)
(send self :go-pos-unsafe-wait))
(or (send* self :go-pos-unsafe-no-wait args)
(send self :go-pos-unsafe-wait)))
(:go-pos-unsafe-no-wait
(x y &optional (d 0)) ;; [m] [m] [degree]
(ros::ros-info "go-pos-unsafe (x y d) = (~A ~A ~A)" x y d)
Expand Down Expand Up @@ -1760,6 +1760,8 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
x y (deg2rad d) msec
:stop t))
(send move-base-trajectory-action :send-goal go-pos-unsafe-goal-msg)
;; check if the action moves properly in :go-pos-unsafe-wait
(return-from :go-pos-unsafe-no-wait nil)
))
(:go-pos-unsafe-wait ()
(let (x y d msec step goal (maxvel 0.295) (maxrad 0.495) (counter 0))
Expand Down