move_base_square.py 文件源码

def move(self, goal):
            # Send the goal pose to the MoveBaseAction server
            self.move_base.send_goal(goal)

            # Allow 1 minute to get there
            finished_within_time = self.move_base.wait_for_result(rospy.Duration(60)) 

            # If we don't get there in time, abort the goal
            if not finished_within_time:
                self.move_base.cancel_goal()
                rospy.loginfo("Timed out achieving goal")
            else:
                # We made it!
                state = self.move_base.get_state()
                if state == GoalStatus.SUCCEEDED:
                    rospy.loginfo("Goal succeeded!")