trajectory_planner.py 文件源码

def new_start_callback(self, start_pose):
        if not self.is_working:
            self.is_working = True
            new_start = State.from_pose(start_pose.pose.pose)
            if self.map is not None and self.map.is_allowed(new_start, self.robot):
                self.start = new_start
                rospy.loginfo("New start was set")
                if self.ready_to_plan():
                    self.replan()
            else:
                rospy.logwarn("New start is bad or no map available")
            self.is_working = False