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import roslib; import rospy import actionlib from actionlib_msgs.msg import * from geometry_msgs.msg import Pose, PoseWithCovarianceStamped, Point, Quaternion, Twist from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal from random import sample from math import pow, sqrt
class NavTest(): def __init__(self): rospy.init_node('exploring_slam', anonymous=True) rospy.on_shutdown(self.shutdown)
self.rest_time = rospy.get_param("~rest_time", 2)
self.fake_test = rospy.get_param("~fake_test", True)
goal_states = ['PENDING', 'ACTIVE', 'PREEMPTED', 'SUCCEEDED', 'ABORTED', 'REJECTED', 'PREEMPTING', 'RECALLING', 'RECALLED', 'LOST'] locations = dict()
locations['1'] = Pose(Point(4.589, -0.376, 0.000), Quaternion(0.000, 0.000, -0.447, 0.894)) locations['2'] = Pose(Point(4.231, -6.050, 0.000), Quaternion(0.000, 0.000, -0.847, 0.532)) locations['3'] = Pose(Point(-0.674, -5.244, 0.000), Quaternion(0.000, 0.000, 0.000, 1.000)) locations['4'] = Pose(Point(-5.543, -4.779, 0.000), Quaternion(0.000, 0.000, 0.645, 0.764)) locations['5'] = Pose(Point(-4.701, -0.590, 0.000), Quaternion(0.000, 0.000, 0.340, 0.940)) locations['6'] = Pose(Point(2.924, 0.018, 0.000), Quaternion(0.000, 0.000, 0.000, 1.000))
self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
rospy.loginfo("Waiting for move_base action server...")
self.move_base.wait_for_server(rospy.Duration(60)) rospy.loginfo("Connected to move base server") initial_pose = PoseWithCovarianceStamped()
n_locations = len(locations) n_goals = 0 n_successes = 0 i = n_locations distance_traveled = 0 start_time = rospy.Time.now() running_time = 0 location = "" last_location = "" while initial_pose.header.stamp == "": rospy.sleep(1)
rospy.loginfo("Starting navigation test")
while not rospy.is_shutdown(): if i == n_locations: i = 0 sequence = sample(locations, n_locations) if sequence[0] == last_location: i = 1
location = sequence[i]
if initial_pose.header.stamp == "": distance = sqrt(pow(locations[location].position.x - locations[last_location].position.x, 2) + pow(locations[location].position.y - locations[last_location].position.y, 2)) else: rospy.loginfo("Updating current pose.") distance = sqrt(pow(locations[location].position.x - initial_pose.pose.pose.position.x, 2) + pow(locations[location].position.y - initial_pose.pose.pose.position.y, 2)) initial_pose.header.stamp = ""
last_location = location
i += 1 n_goals += 1
self.goal = MoveBaseGoal() self.goal.target_pose.pose = locations[location] self.goal.target_pose.header.frame_id = 'map' self.goal.target_pose.header.stamp = rospy.Time.now()
rospy.loginfo("Going to: " + str(location))
self.move_base.send_goal(self.goal)
finished_within_time = self.move_base.wait_for_result(rospy.Duration(300))
if not finished_within_time: self.move_base.cancel_goal() rospy.loginfo("Timed out achieving goal") else: state = self.move_base.get_state() if state == GoalStatus.SUCCEEDED: rospy.loginfo("Goal succeeded!") n_successes += 1 distance_traveled += distance rospy.loginfo("State:" + str(state)) else: rospy.loginfo("Goal failed with error code: " + str(goal_states[state]))
running_time = rospy.Time.now() - start_time running_time = running_time.secs / 60.0
rospy.loginfo("Success so far: " + str(n_successes) + "/" + str(n_goals) + " = " + str(100 * n_successes/n_goals) + "%")
rospy.loginfo("Running time: " + str(trunc(running_time, 1)) + " min Distance: " + str(trunc(distance_traveled, 1)) + " m")
rospy.sleep(self.rest_time)
def update_initial_pose(self, initial_pose): self.initial_pose = initial_pose
def shutdown(self): rospy.loginfo("Stopping the robot...") self.move_base.cancel_goal() rospy.sleep(2) self.cmd_vel_pub.publish(Twist()) rospy.sleep(1)
def trunc(f, n): slen = len('%.*f' % (n, f))
return float(str(f)[:slen])
if __name__ == '__main__': try: NavTest() rospy.spin()
except rospy.ROSInterruptException: rospy.loginfo("Exploring SLAM finished.")
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