Improve move_square script

Author: Emiliano Borghi

ca_tools/launch/move_square.launch

@@ -0,0 +1,16 @@
+<launch>
+  <!--
+    Arguments to the move_square.py node:
+      - "vel [ left | right ]"
+      - "odom"
+      - "odom_imu"
+   -->
+  <arg name="args"/>
+
+  <arg name="robot_id" default="$(optenv ID 1)"      doc="Unique identifier of the robot [1-Inf.)"/>
+  <arg name="ns"       value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1"/>
+
+  <node pkg="ca_tools" type="move_square.py" name="move_square"
+        output="screen" ns="$(arg ns)"
+        args="$(arg args)"/>
+</launch>

ca_node/scripts/move_square.py renamed to ca_tools/scripts/move_square.py

@@ -30,8 +30,8 @@ def __init__(self):
 
         # Declare ROS subscribers and publishers
         self.node_name = "square_move"
-        self.odom_sub_name = "/create1/odom"
-        self.vel_pub_name = "/create1/cmd_vel"
+        self.odom_sub_name = "odom"
+        self.vel_pub_name = "cmd_vel"
         self.vel_pub = None
         self.odometry_sub = None
 
@@ -65,8 +65,6 @@ def stop_robot(self):
             self.vel_ros_pub(Twist())
             time.sleep(self.pub_rate)
 
-        sys.exit("The process has been interrupted by the user!")
-
     def move(self):
         """ To be surcharged in the inheriting class"""
 
@@ -243,7 +241,7 @@ def __init__(self):
         # The functions are the same as in the previous example except for the odometry name that is now filtered
         # in a, Extended Kalman Filter (EKF) with the IMU values thanks to the node robot_pose_ekf
         super(SquareMoveOdomIMU, self).__init__()
-        self.odom_sub_name = "/create1/odom_combined"
+        self.odom_sub_name = "odom_combined"
 
 
 if __name__ == '__main__':