From ec6f3089e3daa26fb030e106c3ca8d9758875a5d Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 24 Aug 2021 20:43:26 +0300
Subject: [PATCH] docs: add snippet to wait for global position

---
 docs/en/snippets.md | 15 +++++++++++++++
 docs/ru/snippets.md | 15 +++++++++++++++
 2 files changed, 30 insertions(+)

diff --git a/docs/en/snippets.md b/docs/en/snippets.md
index 6c8d2127..49d4e986 100644
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -384,3 +384,18 @@ rospy.sleep(5)
 # Turn markers recognition on
 client.update_configuration({'enabled': True})
 ```
+
+### # {#wait-global-position}
+
+Wait for global position to appear (finishing [GPS receiver](gps.md) initialization):
+
+```python
+import math
+
+# ...
+
+while not rospy.is_shutdown():
+    if math.isfinite(get_telemetry().lat):
+        break
+    rospy.sleep(0.2)
+```
diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md
index e7219bf7..5d60cffa 100644
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -402,3 +402,18 @@ rospy.sleep(5)
 # Turn markers recognition on
 client.update_configuration({'enabled': True})
 ```
+
+### # {#wait-global-position}
+
+Ожидать появления глобальной позиции (окончания инициализации [GPS-приемника](gps.md)):
+
+```python
+import math
+
+# ...
+
+while not rospy.is_shutdown():
+    if math.isfinite(get_telemetry().lat):
+        break
+    rospy.sleep(0.2)
+```