py_trees_ros_tutorials.mock.move_base module

Mocks a simple action server that rotates the robot 360 degrees.

class py_trees_ros_tutorials.mock.move_base.MoveBase(*args: Any, **kwargs: Any)[source]

Bases: GenericServer

Simulates a move base style interface.

Node Name:
  • move_base_controller

Action Servers:
  • /move_base (py_trees_ros_interfaces.action.MoveBase)

    • point to point move base action

Parameters:

duration – mocked duration of a successful action

generate_feedback_message() py_trees_ros_interfaces.action.MoveBase.Feedback[source]

Do a fake pose incremenet and populate the feedback message.

Returns:

the populated feedback message

Return type:

py_trees_actions.MoveBase.Feedback

py_trees_ros_tutorials.mock.move_base.main()[source]

Entry point for the mock move base node.