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ApproachTask
Follow the installation instructions
When the navigation is launched, an action server named /m_approach is available. Its type is a move_base_msgs/MoveBase action type. To use an action server please refer to this page.
The goal type of a move_base action is geometry_msgs/PoseStamped.
For the approach, the frame_id of the goal must be the frame of the human footprint to approach and have a name matching this regex: (mocap_)?human-[0-9]+_footprint (e.g. mocap_human-42_footprint and human-1337_footprint would match but human-12 or human_footprint would not. Furthermore, the frame_id must be available on tf.
The position of approach is then given in the human footprint frame which has its x axis positive in front of the human, y to his/her left and z ascending normal to the ground. Thus, if the approached human moves, the approach point stays at the same distance and orientation from him/her The z value is discarded and always set to 0. If the approach point has a distance to the human less than 0.1 meter, the approach point is set to x = 0.5m, y=0.0m (at 50cm in front of the human).
Nothing. The action server returns succeeded if the goal has been reached by the robot.
The feedback type of a move_base action is geometry_msgs/PoseStamped.
The feedback corresponds to the current position of the robot in the frame map (according to what can be read in the feedback.header.frame_id variable).