mirte_lc_labclean.mirte_lc module

LabClean manager node for ROS2.

This module contains a simple ROS2 node that listens for exploration status messages and starts coverage navigation when exploration is complete.

class mirte_lc_labclean.mirte_lc.LabcleanManager

Bases: rclpy.node.Node

Manage the transition from exploration to lab coverage navigation.

The manager subscribes to exploration status updates and sends a NavigateCoverage action goal when exploration completes.

exploration_callback(msg)

Handle exploration status updates.

Args:

msg (explore_lite_msgs.msg.ExploreStatus): Exploration status message.

goal_response_callback(future)

Handle the goal response from the coverage navigation action server.

Args:

future: The future returned by send_goal_async.

nav_feedback_callback(feedback_msg)

Log progress updates from the coverage navigation action.

Args:

feedback_msg: The feedback message from the action server.

send_coverage_goal()

Send a coverage navigation goal.

The goal uses the SKELETON planner and enables verbose feedback.

mirte_lc_labclean.mirte_lc.main(args=None)