def route_forever()

in simulation_ws/src/aws_robomaker_simulation_common/nodes/route_manager.py [0:0]

• 43 lines of code
• 10 McCabe index (conditional complexity)

    def route_forever(self):
        rate = rospy.Rate(1)
        while not rospy.is_shutdown():
            if self.bad_goal_counter > 10:
                rospy.loginfo(
                    'Stopping route manager due to too many bad goals.\
                    Check that your occupancy map has Trinary value\
                    representation and is not\
                    visually noisy/incorrect'
                    )
                return
            else:
                rospy.loginfo(
                    'Route mode is %s, getting next goal',
                    self.route_mode)
                try:
                    if self.route_mode == 'dynamic':
                        # TODO: flake8 linting standard does not allow over-riding
                        # the built-in python method next() which is required to
                        # make 'self.goals' a iterator.
                        current_goal = self.to_move_goal(self.goals.get_next())
                    else:
                        current_goal = self.to_move_goal(next(self.goals))
                except ValueError as e:
                    rospy.loginfo(
                        'No valid goal was found in the map, stopping route manager\
                            due to following exception,\n{0}'.format(str(e)))
                    return

                rospy.loginfo('Sending target goal: %s', current_goal)
                self.client.send_goal(current_goal)

                try:
                    # wait 5sec for global plan to be published. If not, scan
                    # for a new goal..
                    rospy.wait_for_message(
                        '/move_base/DWAPlannerROS/global_plan',
                        Path,
                        timeout=5
                        )

                    if not self.client.wait_for_result():
                        rospy.logerr(
                            'Move server not ready, will try again...')
                    elif self.client.get_result():
                        rospy.loginfo('Goal done: %s', current_goal)

                    rate.sleep()

                except rospy.exceptions.ROSException:
                    self.bad_goal_counter += 1
                    rospy.logwarn(
                        'No plan found for goal. Scanning for a new goal...')