parameters: (self, dis_to_move=0)
docstring: to make robot move forward/back dis_to_move meters
          :param: dis_to_move: the distance make robot move, >0 means move forward, <0 means move back
          :type: float
          :return:
docstring_summary: to make robot move forward/back dis_to_move meters
          :param: dis_to_move: the distance make robot move, >0 means move forward, <0 means move back
          :type: float
          :return:
docstring_tokens: to make robot move forward / back dis_to_move meters : param : dis_to_move : the distance make robot move > 0 means move forward <0 means move back : type : float : return :
function: def move_to_target(self, dis_to_move=0):
          """
          to make robot move forward/back dis_to_move meters
          :param: dis_to_move: the distance make robot move, >0 means move forward, <0 means move back
          :type: float
          :return:
          """
          self.robot_start_pos = self.__get_robot_pos()
          rospy.logdebug("****************************************************************************")
          rospy.logdebug("robot current position is x = %f, y = %f, try to move forward/back %f Meter"
                         %(self.robot_start_pos.x, self.robot_start_pos.y, dis_to_move))
          rospy.logdebug("****************************************************************************")
          while self.__is_robot_arrived(dis_to_move) is not True:
              self.__move_robot(direction=(1 if dis_to_move > 0 else -1))
              self.rate.sleep()
          self.brake()  # we have arrived the target position, so stop robot
          rospy.loginfo('arrived the target point')
function_tokens: def move_to_target ( self , dis_to_move = 0 ) : self . robot_start_pos = self . __get_robot_pos ( ) rospy . logdebug ( "****************************************************************************" ) rospy . logdebug ( "robot current position is x = %f, y = %f, try to move forward/back %f Meter" % ( self . robot_start_pos . x , self . robot_start_pos . y , dis_to_move ) ) rospy . logdebug ( "****************************************************************************" ) while self . __is_robot_arrived ( dis_to_move ) is not True : self . __move_robot ( direction = ( 1 if dis_to_move > 0 else - 1 ) ) self . rate . sleep ( ) self . brake ( ) # we have arrived the target position, so stop robot rospy . loginfo ( 'arrived the target point' )