Move towards a someone stored in the database

[tomkimsour]

During restaurant, the robot scans for waving hands, stores the different position and then needs to move close to one of them to take an order.

manager_pepper/src/plan_high_level_actions/navigation_plan_actions.cpp

Lines 84 to 119 in 0010d6f

	void aMoveTowardsHuman(string params, bool* run)
	{
	string humanName;
	if (params.empty())
	{
	/*
	robobreizh::database::VisionModel vm;
	robobreizh::Person personPerson = vm.selectLastPerson();
	geometry_msgs::Point personPoint = {person.pos_x,person.pos_y,person.pos_z};
	ros::NodeHandle nh;
	nh.subscribe("/amcl_pose",geometry_msgs::PoseWithCovarianceStamped);
	geometry_msgs::PoseWithCovarianceStamped robotPose = ros::topic::waitForMessage("/amcl_pose",nh);
	int targetAngle = dialog::generic::getAngleABC(personPoint, robotPose.position, robotPose);
	navigation::generic::moveTowardsPosition(targetPose,t(float)argetAngle);
	ROS_INFO("aMoveTowardsHuman - moving towards human");
	*/
	}
	else if (params == "human")
	{
	}
	else
	{
	if (params == "GPSR")
	{
	GPSRActionsModel gpsrActionsDb;
	humanName = gpsrActionsDb.getSpecificItemFromCurrentAction(GPSRActionItemName::person);
	}
	else
	humanName = params;
	ROS_INFO("aMoveTowardsHuman - Moving towards specific Human called %s", humanName.c_str());
	}
	RoboBreizhManagerUtils::setPNPConditionStatus("NavOK");
	RoboBreizhManagerUtils::pubVizBoxChallengeStep(1);
	}