AGV patroling

Use case of this script

This python node can be used to patrol robot from starting point to sent goal point.

Prerequisite

Robot should be in state that it can navigate to any goal position.

To start patroling user need to follow two steps.

1. Run agv_patrol.launch file and give agv name and map name as an argument.
2. Then publish goal position on topic /patrol to start patroling.

Additional feature

You can publish another goal point again on topic /patrol. Then after completing complete round, robot will start patroling from starting position to newly goal point provided.

TODO

• Add a feature to partrol multiple locations from starting position to the multiple locations provided.