def __init__(self, sim, robot):
MobileBase.__init__(self, sim=sim, robot=robot)
self.controller = robot.AttachController(name=robot.GetName(),
args='NavigationController {0:s} {1:s}'.format('herbpy', '/navcontroller'),
dof_indices=[],
affine_dofs=openravepy.DOFAffine.Transform,
simulated=sim)
def __init__(self, sim, robot):
MobileBase.__init__(self, sim=sim, robot=robot)
self.controller = robot.AttachController(name=robot.GetName(),
#args='SegwayController {0:s}'.format('herbpy'),
args='NavigationController {0:s} {1:s}'.format('wampy', '/navcontroller'),
dof_indices=[],
affine_dofs=openravepy.DOFAffine.Transform,
simulated=sim)
def __init__(self, sim, robot):
MobileBase.__init__(self, sim=sim, robot=robot)
self.simulated = sim
self.logger = logging.getLogger(__name__)
self.robot = robot
if not self.simulated:
self.controller = BaseVelocityController('', self.robot,
'base_controller')
else:
self.controller = robot.AttachController(
name=robot.GetName(),
args='NavigationController {0:s} {1:s}'.format(
'fetchpy', '/navcontroller'),
dof_indices=[],
affine_dofs=openravepy.DOFAffine.Transform,
simulated=sim)
def Forward(self, meters, execute=True, timeout=None, **kwargs):
"""Drive forward for the desired distance.
@param distance distance to drive, in meters
@param timeout time in seconds; pass \p None to block until complete
@return base trajectory
"""
if self.simulated or not execute:
return MobileBase.Forward(self, meters, execute=execute,
timeout=timeout, **kwargs)
else:
with prpy.util.Timer("Drive segway"):
self.controller.SendCommand("Drive " + str(meters))
is_done = prpy.util.WaitForControllers([self.controller], timeout=timeout)
def Rotate(self, angle_rad, execute=True, timeout=None, **kwargs):
"""Rotate in place by a desired angle
@param angle angle to turn, in radians
@param timeout time in seconds; pass \p None to block until complete
@return base trajectory
"""
if self.simulated or not execute:
return MobileBase.Rotate(self, angle_rad, execute=execute,
timeout=timeout, **kwargs)
else:
with prpy.util.Timer("Rotate segway"):
self.controller.SendCommand("Rotate " + str(angle_rad))
running_controllers = [self.controller]
is_done = prpy.util.WaitForControllers(running_controllers, timeout=timeout)
def CloneBindings(self, parent):
MobileBase.CloneBindings(self, parent)
def Rotate(self, angle_rad, execute=False, timeout=None, **kwargs):
return MobileBase.Rotate(self,
angle_rad,
execute=execute,
timeout=timeout,
**kwargs)
def Forward(self, meters, execute=False, timeout=None, **kwargs):
return MobileBase.Forward(self,
meters,
execute=execute,
timeout=timeout,
**kwargs)