robot_smach_states.navigation.navigate_to_observe
Classes
Move the robot to a specified location. |
Module Contents
- class robot_smach_states.navigation.navigate_to_observe.NavigateToObserve(robot, entity_designator, radius=0.7, margin=0.075, room=None, reset_head=True, speak=True, reset_pose=True)[source]
Bases:
robot_smach_states.navigation.navigation.NavigateToMove the robot to a specified location.
- Parameters:
robot – Robot object
constraint_function – function resolving to a tuple(PositionConstraint, OrientationConstraint) telling the robot where to drive to.
reset_head – Whether or not the head should be used for obstacle avoidance during navigation.
speak – Whether or not the robot should speak during navigation
reset_pose – Whether or not the robot is allowed to change its pose for navigation.
room (robot_smach_states.util.designators.core.Designator) –
Navigates to a radius from an ed entity. If a convex hull is present, the distance to the convex hull is used. Otherwise, the distance to the pose of the entity is used
- Parameters:
robot – (Robot) object
entity_designator – EdEntityDesignator for the object to observe
radius – (float) desired distance to the pose of the entity [m]
margin – (float) allowed margin w.r.t. specified radius on both sides [m]
room (robot_smach_states.util.designators.core.Designator) – (Optional) Designator to the room you want to stay in
reset_head – Whether or not the head should be used for obstacle avoidance during navigation.
speak – Whether or not the robot should speak during navigation
reset_pose – Whether or not the robot is allowed to change its pose for navigation.