def stop(self):
"""Stop the robot's motion."""
response = self._robot_command(RobotCommandBuilder.stop_command())
return response[0], response[1]
def _stop(self):
self._start_robot_command('stop', RobotCommandBuilder.stop_command())
def test_stop_command():
command = RobotCommandBuilder.stop_command()
_test_has_full_body(command)
assert command.full_body_command.HasField("stop_request")
def main():
import argparse
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
parser.add_argument('--dx',
default=0,
type=float,
help='Position offset in body frame (meters forward).')
parser.add_argument('--dy',
default=0,
type=float,
help='Position offset in body frame (meters left).')
parser.add_argument('--dyaw',
default=0,
type=float,
help='Position offset in body frame (degrees ccw).')
parser.add_argument('--frame',
choices=[VISION_FRAME_NAME, ODOM_FRAME_NAME],
default=ODOM_FRAME_NAME,
help='Send the command in this frame.')
parser.add_argument('--stairs',
action='store_true',
help='Move the robot in stairs mode.')
options = parser.parse_args()
# Create robot object.
sdk = bosdyn.client.create_standard_sdk('RobotCommandMaster')
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Check that an estop is connected with the robot so that the robot commands can be executed.
assert not robot.is_estopped(), "Robot is estopped. Please use an external E-Stop client, " \
"such as the estop SDK example, to configure E-Stop."
# Create the lease client.
lease_client = robot.ensure_client(LeaseClient.default_service_name)
# Setup clients for the robot state and robot command services.
robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
lease_client.acquire()
with LeaseKeepAlive(lease_client, return_at_exit=True):
# Power on the robot and stand it up.
robot.time_sync.wait_for_sync()
robot.power_on()
blocking_stand(robot_command_client)
try:
return relative_move(options.dx,
options.dy,
math.radians(options.dyaw),
options.frame,
robot_command_client,
robot_state_client,
stairs=options.stairs)
finally:
# Send a Stop at the end, regardless of what happened.
robot_command_client.robot_command(
RobotCommandBuilder.stop_command())
