def __init__(self, pose, frame, usability):
if frame != '/map' and frame != 'map':
if MoveToPoseGoal.tl is None:
MoveToPoseGoal.tl = tf.TransformListener()
rospy.sleep(1)
pose_stamped = PoseStamped()
pose_stamped.header.frame_id = frame
pose_stamped.pose = pose
#tf.Transformer().waitForTransform('/map', frame)
pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose('/map', pose_stamped)
pose = pose_stmpd_in_map.pose
Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)], usability)
def __init__(self, pose, frame, usability):
if frame != '/map' and frame != 'map':
if MoveToPoseGoal.tl is None:
MoveToPoseGoal.tl = tf.TransformListener()
rospy.sleep(1)
pose_stamped = PoseStamped()
pose_stamped.header.frame_id = frame
pose_stamped.pose = pose
#tf.Transformer().waitForTransform('/map', frame)
pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose(
'/map', pose_stamped)
pose = pose_stmpd_in_map.pose
Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)],
usability)
def __init__(self):
Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)
def __init__(self):
Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)