trajectory_planner.py 文件源码

def new_goal_callback(self, goal_pose):
        if not self.is_working:
            self.is_working = True
            new_goal = State.from_pose(goal_pose.pose)
            if self.map is not None and self.map.is_allowed(new_goal, self.robot):
                self.goal = new_goal
                rospy.loginfo("New goal was set")
                if self.ready_to_plan():
                    self.replan()
            else:
                rospy.logwarn("New goal is bad or no map available")

            self.is_working = False