Hello, I know this exercise is pending to be corrected, but I would appreciate if anyone understands what it is asked in the exercise and is able to clarify my doubts.
From what I can tell, the idea is to keep the funcionality of multithreading_movement_server_parallel but adding the next points:
- New node with one server and one subscriber
- This new server will compare the lectures of the front laser of the robot between five seconds and according to the delta generated it will change the cmd_vel msg to move backwards or forward.
- A new flag is inserted to move the robot just when “it starts” and when service is called → This is told before the service
calculationshas been mentioned, so I suppose it only refers to the/start_turnservice. Also, what does “it starts” mean?
In case this was the correct intention of this flag, the robot will only move during the 15 seconds sleep of thestart_turnservice.
Using this information, the expected output would be: The robot will only move when /start_turn is called. with the exact behaviour of multithreading_movement_server_parallel unless you call the second server, which will read the laser data, and after five seconds will change the cmd_vel msg and will start behaviouring as /calculations has been declared.
This will only happen if the second server is called more than five seconds before the sleep count of the first server finishes, since the flag is only fixed to the first server callback.
I hope I made it clear and please feel free to answer, ask or correct anything from my message.
Best regards