def main():
motionProxy = init_robot.start_motion()
rospy.init_node('walker', anonymous=True)
if rospy.get_param('lower'):
sys.exit()
ball = rospy.wait_for_message('pos', Point)
while ball.x > 0.45:
move_robot(motionProxy, ball)
ball = rospy.wait_for_message('pos', Point)
# Una vez hemos concluido el acercamiento con el walker...
rospy.set_param('lower', True)
def main():
motionProxy = init_robot.start_motion()
rospy.init_node('set_position', anonymous=True)
while not rospy.get_param('lower'):
time.sleep(0.5)
# Cuando otro módulo hace lower True...
videoDeviceProxy = camera.init_camera()
camera.low_camera(videoDeviceProxy)
ball = rospy.wait_for_message('pos', Point)
while not inrange(ball.x, TARGET_X-ERROR_X, TARGET_X+ERROR_X) or \
not inrange(ball.y, TARGET_Y-ERROR_Y, TARGET_Y+ERROR_Y):
set_position(motionProxy, ball)
ball = rospy.wait_for_message('pos', Point)
rospy.set_param('kick_now', True)
def main():
rospy.init_node('goal_pos')
motionProxy = init_robot.start_motion()
postureProxy = init_robot.start_posture()
markProxy = init_robot.start_mark_detection()
memProxy = init_robot.start_memory()
launcher(motionProxy, postureProxy, markProxy)
pub = rospy.Publisher('goal', Point, queue_size=1)
rate = rospy.Rate(5) #5Hz
while not rospy.is_shutdown():
publish_goal(memProxy, pub)
rate.sleep()
redgoalTrackerProxy.stopTracker()
postureProxy.goToPosture('StandInit', 1.0)
def main():
motionProxy = init_robot.start_motion()
postureProxy = init_robot.start_posture()
rospy.init_node('kicker', anonymous=True)
if not rospy.has_param('frames'):
rospy.set_param('frames', 10) #valor default
frames = rospy.get_param('frames')
target_x = calculate_target_x(frames)
target_y = calculate_target_y(frames)
prepare_kick(motionProxy)
basic_kick.basic_kick(motionProxy)
#kick(motionProxy, target_x, target_y, deviation)
trajectory = get_trajectory()
rospy.loginfo('Ball trajectory: ' + str(trajectory))
trajectory_to_csv(trajectory, alpha)
# print_trajectory(trajectory)
init_robot.init_pos(postureProxy)
