Python PhantomX.set_walk_velocity Beispiele

Beispiel #1

Datei: follow_wall.py Projekt: cyrilcotsaftis/Hexabot

#!/usr/bin/env python

import rospy
from phantomx_gazebo.phantomx import PhantomX


if __name__ == '__main__':
    rospy.init_node('follow_wall')
    robot = PhantomX()
    rospy.sleep(1)

    while not rospy.is_shutdown():
        z = robot.follow_wall()
        robot.set_walk_velocity(0.6, 0, z)
        rospy.sleep(0.1)

Beispiel #2

Datei: walker_demo.py Projekt: HumaRobotics/phantomx_gazebo

#!/usr/bin/env python

import rospy
from phantomx_gazebo.phantomx import PhantomX


if __name__ == '__main__':
    rospy.init_node('walker_demo')

    rospy.loginfo('Instantiating robot Client')
    robot = PhantomX()
    rospy.sleep(1)

    rospy.loginfo('Walker Demo Starting')

    robot.set_walk_velocity(0.2, 0, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(1, 0, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(0, 1, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(0, -1, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(-1, 0, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(1, 1, 0)
    rospy.sleep(5)
    robot.set_walk_velocity(0, 0, 0)

    rospy.loginfo('Walker Demo Finished')

Beispiel #3

Datei: walker_demo.py Projekt: ymusell/Hexabot

#!/usr/bin/env python

import rospy
from phantomx_gazebo.phantomx import PhantomX


if __name__ == '__main__':
    rospy.init_node('walker_demo')

    rospy.loginfo('Instantiating robot Client')
    robot = PhantomX()
    rospy.sleep(1)

    rospy.loginfo('Walker Demo Starting')

    robot.set_walk_velocity(0.2, 0, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(1, 0, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(0, 1, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(0, -1, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(-1, 0, 0)
    rospy.sleep(3)
    robot.set_walk_velocity(1, 1, 0)
    rospy.sleep(5)
    robot.set_walk_velocity(0, 0, 0)

    rospy.loginfo('Walker Demo Finished')

Beispiel #4

Datei: walker_demo.py Projekt: trqarg/Phantomx_laser

        rospy.loginfo("Distancia: %f Angulo: %f", data.ranges[n], n)
        if data.ranges[n] > 1.1:
            rospy.loginfo("if")
            robot.set_walk_velocity(0, 0, 0)
            rospy.sleep(0.2)
            robot.set_walk_velocity(-1, 0, 0)
            rospy.sleep(1)
            robot.set_walk_velocity(1, 0, 0.5)
            rospy.sleep(2)
        else:
            rospy.loginfo("else")
            robot.set_walk_velocity(1, 0, 0)
            rospy.sleep(0.1)
        n = n + 72


def listener():
    rospy.Subscriber("/phantomx/laser/scan", LaserScan, callback)
    rospy.spin()


if __name__ == "__main__":
    rospy.init_node("walker_demo")
    rospy.loginfo("Instanciando Phantomx")
    robot = PhantomX()
    rospy.sleep(1)
    rospy.loginfo("Robot Listo!")
    robot.set_walk_velocity(0, 0, 0)
    listener()
    rospy.loginfo("Robot Apagado!")