check if all robot topics/servers are available before accepting a goal - Githubissues

iRobotEducation / create3_examples

Example nodes to drive the iRobot® Create® 3 Educational Robot

BSD 3-Clause "New" or "Revised" License

51 stars 12 forks source link

check if all robot topics/servers are available before accepting a goal #9

Closed alsora closed 2 years ago

alsora commented 2 years ago

This PR adds a ready_to_start function that is checked by the coverage node before accepting a goal. It verifies that all the needed topics/messages have been discovered.

Moreover, some minor changes to documentation.

Testing done:

trying to send a coverage goal request without the robot/simulator being present results in the goal being rejected
goals sent after the robot/simulator are present are accepted

This will address https://github.com/iRobotEducation/create3_examples/issues/8

Signed-off-by: Alberto Soragna alberto.soragna@gmail.com