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[pr2eus] Add correction arg in :move-to-wait #418

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merged 3 commits into from
Dec 16, 2019

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knorth55
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@knorth55 knorth55 commented Nov 8, 2019

add :correction arg in :move-to-wait
if you set :correction nil, the correction step will be skipped.
related #406

@taichiH
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taichiH commented Nov 9, 2019

How about add correction argument in :move-to function?
Should I PR to your branch?

because in #406 case, we also have to override move-to-wait function on each robot-interface (for example, aero-interface)

@knorth55
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knorth55 commented Nov 9, 2019

(:move-to
(coords &rest args &key (no-wait nil) &allow-other-keys)
(send* self :move-to-send coords args)
(if (not no-wait)
(send* self :move-to-wait args) t))

all args is passed to :move-to-wait, so you can pass :correction arg in :move-to function as follows;
(send *ri* :move-to coords :correction nil)

@taichiH
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taichiH commented Nov 9, 2019

あ、すいません。勘違いしてました。
ありがとうございます。

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LGTM, btw could we add documentation to all move-base related function?

@k-okada k-okada merged commit d51bdcf into jsk-ros-pkg:master Dec 16, 2019
@knorth55 knorth55 deleted the add-correction-arg branch December 17, 2019 02:16
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3 participants