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Hello.
Assume I am at coordinate (x,y,0) with respect to the /map frame.
The robot is going to (xg,yg,0).
I want to include in my python code (node that takes care of sending the goal and calculating E), a line that calculates a value E=50/((xg-x)^2 (yg-y)^2) every 0.5 seconds.
How do I go about it in regards to time and getting the values of the coordinates?
I think I can get the coordinates using the odom node, but what about the time? What functions and logic should I use to let the node calculates E every 0.5 s?
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