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How to use make_plan method in tappy

Best Python code snippet using tappy_python

relay.py

Source:relay.py

1#!/usr/bin/env python2import actionlib3import copy4import rospy5import nav_msgs.srv as nav_srvs6import mbf_msgs.msg as mbf_msgs7import move_base_msgs.msg as mb_msgs8from dynamic_reconfigure.client import Client9from dynamic_reconfigure.server import Server10from geometry_msgs.msg import PoseStamped11"""12move_base legacy relay node:13Relays old move_base actions to the new mbf move_base action, similar but with richer result and feedback.14We also relay the simple goal topic published by RViz, the make_plan service and dynamic reconfiguration15calls (note that some parameters have changed names; see http://wiki.ros.org/move_base_flex for details)16"""17# keep configured base local and global planners to send to MBF18bgp = None19blp = None20def simple_goal_cb(msg):21    mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg, planner=bgp, controller=blp))22    rospy.logdebug("Relaying move_base_simple/goal pose to mbf")23def mb_execute_cb(msg):24    mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg.target_pose, planner=bgp, controller=blp),25                        feedback_cb=mbf_feedback_cb)26    rospy.logdebug("Relaying legacy move_base goal to mbf")27    mbf_mb_ac.wait_for_result()28    status = mbf_mb_ac.get_state()29    result = mbf_mb_ac.get_result()30    rospy.logdebug("MBF execution completed with result [%d]: %s", result.outcome, result.message)31    if result.outcome == mbf_msgs.MoveBaseResult.SUCCESS:32        mb_as.set_succeeded(mb_msgs.MoveBaseResult(), "Goal reached.")33    else:34        mb_as.set_aborted(mb_msgs.MoveBaseResult(), result.message)35def make_plan_cb(request):36    mbf_gp_ac.send_goal(mbf_msgs.GetPathGoal(start_pose=request.start, target_pose=request.goal,37                                             use_start_pose=bool(request.start.header.frame_id),38                                             planner=bgp, tolerance=request.tolerance))39    rospy.logdebug("Relaying legacy make_plan service to mbf get_path action server")40    mbf_gp_ac.wait_for_result()41    status = mbf_gp_ac.get_state()42    result = mbf_gp_ac.get_result()43    rospy.logdebug("MBF get_path execution completed with result [%d]: %s", result.outcome, result.message)44    if result.outcome == mbf_msgs.GetPathResult.SUCCESS:45        return nav_srvs.GetPlanResponse(plan=result.path)46def mbf_feedback_cb(feedback):47    mb_as.publish_feedback(mb_msgs.MoveBaseFeedback(base_position=feedback.current_pose))48if __name__ == '__main__':49    rospy.init_node("move_base")50    # TODO what happens with malformed target goal???  FAILURE  or INVALID_POSE51    # txt must be:  "Aborting on goal because it was sent with an invalid quaternion"   52    # move_base_flex get_path and move_base action clients53    mbf_mb_ac = actionlib.SimpleActionClient("move_base_flex/move_base", mbf_msgs.MoveBaseAction)54    mbf_gp_ac = actionlib.SimpleActionClient("move_base_flex/get_path", mbf_msgs.GetPathAction)55    mbf_mb_ac.wait_for_server(rospy.Duration(20))56    mbf_gp_ac.wait_for_server(rospy.Duration(10))57    # move_base simple topic and action server58    mb_sg = rospy.Subscriber('move_base_simple/goal', PoseStamped, simple_goal_cb)59    mb_as = actionlib.SimpleActionServer('move_base', mb_msgs.MoveBaseAction, mb_execute_cb, auto_start=False)60    mb_as.start()61    # move_base make_plan service62    mb_mps = rospy.Service('~make_plan', nav_srvs.GetPlan, make_plan_cb)...

s624795956.py

Source:s624795956.py

...11        if pi:12            score = (i+1) * 10013            total += score * pi + bonus[i]14    return total15def make_plan(total_problem, total_score, flag):16    """17    :param total_score: ããã¾ã§ã®åè¨ã¹ã³ã¢18    :param total_problem: ããã¾ã§ã®åè¨åé¡æ°19    :param flag: æå¾ã®ã¹ã³ã¢èª¿æ´å®æ½æ¸ã¿ãã©ã°20    :return: åè¨åé¡æ°21    """22    if total_score >= G:23        return total_problem24    # print("call ", total_problem, total_score, problems)25    rest_score = calc_rest_score()  # æ®ãå¨é¨è§£ãããä½ç¹ã«ãªãã®ã26    if total_score + rest_score < G:27        # ããç¡ç28        return 1000029    for i in range(N - 1, -1, -1):30        pi = problems[i]31        si = (i + 1) * 10032        if pi == 0:33            continue34        else:35            # 1. å¨é¨è§£ã36            problems[i] = 037            pn1 = make_plan(total_problem + pi,38                            total_score + si * pi + bonus[i],39                            flag)40            problems[i] = pi41            # print("pn1:", pn1)42            # 2. é¨åçã«è§£ã(ãã ãæå¾ã®èª¿æ´ã¨ãã¦)43            if not flag:44                # 1åãã¤æ¸ããã¦çµæãæ¯è¼45                min_pn = 10000  # å¤ååé¡æ°ã¯maxã§ã5500åããã46                for j in range(pi, -1, -1):  # 1ï½(pi-1)47                    plus_score = si * j48                    if j == pi:49                        plus_score += bonus[i]50                    problems[i] = 051                    pn = make_plan(total_problem+j,52                                   total_score+plus_score,53                                   True if j != 0 else flag)54                    # print("test", j, pn)55                    problems[i] = pi56                    if pn < min_pn:57                        min_pn = pn58                pn2 = min_pn59            else:60                pn2 = 1000061            return min(pn1, pn2)62    else:63        # åé¡ãé¿ãããã¦è§£ããªã64        return 10000...

make_plan.py

Source:make_plan.py

...23            goal = PoseStamped(Header(0, ctime, "map"),24                                Pose(Point(target_x, target_y, 0), 25                                    Quaternion(0,0,0,1)))26            tolerance = 027            resp = make_plan(start, goal, tolerance)28            return resp.plan.poses29        except rospy.ServiceException as e:30            print("Service call failed: %s"%e)31if __name__ == "__main__":32    rospy.init_node("make_plan")33    # program = MakePlan()34    # print(len(program.get_plan()))...

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