reac_tag_timeout = 15 # seconds
reac_prev_state_timeout = 5 # seconds
reac = Reacquisition(reac_velocities, reac_max_alt, reac_tag_timeout, reac_prev_state_timeout)
# follow = Follow()
# Create the timers to transition to Reacquisition mode
# takeoff_to_reac_timer = rospy.Timer(rospy.Duration(takeoff_to_reac_timeout), goto_reacquisition)
# land_to_reac_timer = rospy.Timer(rospy.Duration(land_to_reac_timeout), goto_reacquisition)
# follow_to_reac_timer = rospy.Timer(rospy.Duration(follow_to_reac_timeout), goto_reacquisition)
smach = Smach()
# TODO: Test all of this
# The start of it all
# def main():
takeoff.turn_off_timer(takeoff.timer, 'Takeoff')
land.turn_off_timer(land.timer, 'Land')
reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')
reac.turn_off_timer(reac.land_timer, 'Reac land')
while not rospy.is_shutdown():
print state
# NOTE: There are some subtleties here. We want to be able to use more than
# one mode for certain modes which is why follow mode is on it's own
# Check if we're in takeoff mode
if (state == 'takeoff'):
print "Takeoff Mode"
# NOTE: This was copy and pasted from the takeoff node
# To get this guy to take off! For some reason just calling this
# function once does not work. This value (50) was determined
reac_prev_state_timeout = 5 # seconds
reac = Reacquisition(reac_velocities, reac_max_alt, reac_tag_timeout,
reac_prev_state_timeout)
# follow = Follow()
# Create the timers to transition to Reacquisition mode
# takeoff_to_reac_timer = rospy.Timer(rospy.Duration(takeoff_to_reac_timeout), goto_reacquisition)
# land_to_reac_timer = rospy.Timer(rospy.Duration(land_to_reac_timeout), goto_reacquisition)
# follow_to_reac_timer = rospy.Timer(rospy.Duration(follow_to_reac_timeout), goto_reacquisition)
smach = Smach()
# TODO: Test all of this
# The start of it all
# def main():
takeoff.turn_off_timer(takeoff.timer, 'Takeoff')
land.turn_off_timer(land.timer, 'Land')
reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')
reac.turn_off_timer(reac.land_timer, 'Reac land')
while not rospy.is_shutdown():
print state
# NOTE: There are some subtleties here. We want to be able to use more than
# one mode for certain modes which is why follow mode is on it's own
# Check if we're in takeoff mode
if (state == 'takeoff'):
print "Takeoff Mode"
# NOTE: This was copy and pasted from the takeoff node
# To get this guy to take off! For some reason just calling this
# function once does not work. This value (50) was determined
