navgation_test_1.py 文件源码

def run(self):
        global FLAG,PEOPLE_POSITION
        lock = threading.Lock()
#         while True:
        if FLAG!=0:
                with lock:
                    rospy.loginfo(PEOPLE_POSITION)
                    x=PEOPLE_POSITION.x-0.7
                    y=PEOPLE_POSITION.y
                self.goal.target_pose.pose=(Pose(Point(x,y,0),self.q))
                subprocess.call(["rosservice","call","/move_base/clear_costmaps"])
                self.move_base.send_goal(self.goal)
                FLAG=0
                rospy.sleep(0.1)
        return TaskStatus.RUNNING