def move_entity_to_goal(self, entity, goal):
self.get_logger().info('Move entity:' + entity.id + " to position:" +
goal.__str__())
msg = SGlobalPose()
msg.gpose = goal
msg.id = entity.id
self.moveToPub.publish(msg)
def attack_goal(self, entity, goal):
self.get_logger().info('Entity:' + entity.id + " should attack at:" +
goal.__str__())
msg = SGlobalPose()
msg.gpose = goal
msg.id = entity.id
self.attackPub.publish(msg)
def look_at_goal(self, entity_id, goal):
self.node.get_logger().info('Entity:' + entity_id +
" should look at:" + goal.__str__())
msg = SGlobalPose()
msg.gpose = goal
msg.id = entity_id
self.lookPub.publish(msg)