def my_callback(request):
my_response = BB8CustomServiceMessageResponse()
my_response.success = True
length = request.side
print("help")
for i in range (0, request.repetitions):
for j in range (0, 4):
cmd_vel.linear.x = 0.5
#pub.publish(cmd_vel)
time.sleep(length)
cmd_vel.linear.x = 0.0
#pub.publish(cmd_vel)
time.sleep(length)
cmd_vel.angular.z = 0.5
#pub.publish(cmd_vel)
time.sleep(1.45)
cmd_vel.angular.z = 0.0
#pub.publish(cmd_vel)
time.sleep(1.45)
return my_response # the service Response class, in this case MyCustomServiceMessageResponse
def my_callback(request):
print "Repitions" + str(request.repetitions) #checkers
print "Side" + str(request.side)
response = BB8CustomServiceMessageResponse()
square = Twist()
for x in range(0, request.repetitions):
for i in range(0, 4):
square.linear.x = 1.0
pub.publish(square)
time.sleep(request.side)
square.linear.x = 0.0
pub.publish(square)
time.sleep(request.side)
square.angular.z = 1.0
pub.publish(square)
time.sleep(request.side)
square.angular.z = 0.0
pub.publish(square)
time.sleep(request.side)
square.linear.x = 0
square.angular.z = 0
pub.publish(square)
response.success = True
return response # the service Response class, in this case EmptyResponse
def callback(request):
response = BB8CustomServiceMessageResponse()
global count
linear_time = request.side / 0.5
n = request.repetitions * 4
while count < n: # repeat this many times
# move in square here.
pub.publish(halt(move))
time.sleep(0.1)
pub.publish(linear_movement(move))
time.sleep(linear_time)
pub.publish(halt(move))
time.sleep(0.1)
pub.publish(angular_movement(move))
time.sleep(1.7)
pub.publish(halt(move))
time.sleep(0.1)
count += 1
pub.publish(halt(move))
response.success = True
return response
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_square_custom has been called")
radius = request.side
for i in range(request.repetitions):
rospy.loginfo("Moving forward...")
move_circle.linear.x = 0.2
move_circle.angular.z = 0
my_pub.publish(move_circle)
time.sleep(radius)
rospy.loginfo("Rotating...")
move_circle.linear.x = 0
move_circle.angular.z = 0.2
my_pub.publish(move_circle)
time.sleep(4)
rospy.loginfo("Moving forward...")
move_circle.linear.x = 0.2
move_circle.angular.z = 0
my_pub.publish(move_circle)
time.sleep(radius)
rospy.loginfo("Rotating...")
move_circle.linear.x = 0
move_circle.angular.z = 0.2
my_pub.publish(move_circle)
time.sleep(4)
rospy.loginfo("Moving forward...")
move_circle.linear.x = 0.2
move_circle.angular.z = 0
my_pub.publish(move_circle)
time.sleep(radius)
rospy.loginfo("Rotating...")
move_circle.linear.x = 0
move_circle.angular.z = 0.2
my_pub.publish(move_circle)
time.sleep(4)
rospy.loginfo("Moving forward...")
move_circle.linear.x = 0.2
move_circle.angular.z = 0
my_pub.publish(move_circle)
time.sleep(radius)
rospy.loginfo("Rotating...")
move_circle.linear.x = 0
move_circle.angular.z = 0.2
my_pub.publish(move_circle)
time.sleep(4)
rospy.loginfo("Stopping...")
move_circle.linear.x = 0
move_circle.angular.z = 0
my_pub.publish(move_circle)
time.sleep(2)
rospy.loginfo("Finished service move_bb8_in_square_custom")
response = BB8CustomServiceMessageResponse()
response.success = True
return response # the service Response class, in this case EmptyResponse
def service_callback(request):
resp = BB8CustomServiceMessageResponse()
try:
for i in range(request.repetitions):
move_square(request.side)
rospy.sleep(1.5)
resp.success = True
except:
resp.success = False
return resp
def my_callback(request):
sides = request.side
rep = request.repetitions
loop_func(4, sides)
response = BB8CustomServiceMessageResponse()
response.success = True
return response
def my_callback(request):
i = 0
while i <= request.repetitions:
cube(request.side)
i += 1
response = BB8CustomServiceMessageResponse()
response.success = True
move.linear.x = 0.0
move.angular.z = 0.0
pub.publish(move)
rate.sleep()
return response # the service Response class, in this case EmptyResponse
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_circle_custom has been called")
while (request.repetitions > 0):
j = 0
while (j < 4):
# Moving the robot
print('Moving the robot for ' + str(request.side) + 'mtr')
i = 0
move_circle.linear.x = 0.2
move_circle.angular.z = 0.0
while i <= request.side:
my_pub.publish(move_circle)
print('Length Travelled =' + str(i))
rate.sleep()
i = i + 1
# Linear speed in x is zero
move_circle.linear.x = 0.0
my_pub.publish(move_circle)
# Rotating the robot
i = 0
move_circle.angular.z = 0.2
move_circle.linear.x = 0.0
while i <= 3:
my_pub.publish(move_circle)
print('Length Travelled =' + str(i))
rate.sleep()
i = i + 1
# Angular speed in z is zero
move_circle.angular.z = 0.0
my_pub.publish(move_circle)
# Increment the counter
j = j + 1
request.repetitions = request.repetitions - 1
move_circle.linear.x = 0
move_circle.angular.z = 0.0
my_pub.publish(move_circle)
rospy.loginfo("Finished service move_bb8_in_circle_custom")
response = BB8CustomServiceMessageResponse()
response.success = True
return response # the service Response class, in this case EmptyResponse
def my_callback(request):
print "Request Data==> side=" + str(request.side) + ", repetitions=" + str(
request.repetitions)
my_response = BB8CustomServiceMessageResponse()
move_square = MoveBB8()
try:
for i in range(request.repetitions):
move_square.move_square(request.side)
my_response.success = True
except Exception as e:
print e.message
my_response.success = False
rospy.loginfo('Finished service move bb8 in square')
return my_response
def service(self, *_data):
request = _data[0]
time_size_scale = 0.2
repetitions = request.repetitions
side = request.side * time_size_scale
for _ in range(repetitions):
for _ in range(4):
self.move_linear(side)
self.move_angular()
my_response = BB8CustomServiceMessageResponse()
my_response.success = True
return my_response
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_square has been called")
movebb8_object = MoveBB8()
repetions_of_square = request.repetitions + 1
new_side = request.side
for i in range(repetions_of_square):
rospy.loginfo("Start Movement with side =" + str(new_side) +
" Repetition = " + str(i))
movebb8_object.move_square(side=new_side)
rospy.loginfo("Finished service move_bb8_in_square that was called called")
response = BB8CustomServiceMessageResponse()
response.success = True
return response
def my_callback(request):
endResponse = BB8CustomServiceMessageResponse()
for i in range(0, request.repetitions):
for k in range(0, 4):
pub.publish(straightMov)
rospy.sleep(request.side)
pub.publish(stopMov)
rospy.sleep(request.side)
pub.publish(turnMov)
rospy.sleep(turnTime)
pub.publish(stopMov)
endResponse.success = True
return endResponse
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_square_custom has been called")
movebb8_object = MoveBB8()
# We need to add because if we ask 0 repetitions means to execute once, not zero times.
repetitions_of_square = request.repetitions + 1
new_side = request.side
for i in range(repetitions_of_square):
rospy.loginfo("Start Movement with side = "+str(new_side)+"Repetition = "+str(i))
movebb8_object.move_square(side=new_side)
rospy.loginfo("Finished service move_bb8_in_square that was called called")
response = BB8CustomServiceMessageResponse()
response.success = True
return response
def my_callback(request):
print "Request Data==> repetitions="+str(request.repetitions)
my_response = BB8CustomServiceMessageResponse()
i = 0
while i < request.repetitions:
move_like_square(request.side)
rate.sleep()
i = i + 1
my_response.success = True
move.angular.z = 0
move.linear.x = 0
pub.publish(move)
return my_response
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_square_custom has been called")
move_square.linear.x = 0.2
move_square.angular.z = 0.2
my_pub.publish(move_square)
rate.sleep()
i = 0
print(request.repetitions)
print(request.side)
for i in range(request.repetitions):
while i < 4:
move_square.linear.x = 0.2
move_square.angular.z = 0.0
my_pub.publish(move_square)
for x in range(int(request.side)):
rate.sleep()
rate.sleep()
rate.sleep()
move_square.linear.x = 0.0
move_square.angular.z = 0.0
my_pub.publish(move_square)
rate.sleep()
rate.sleep()
move_square.linear.x = 0.0
move_square.angular.z = 0.25
my_pub.publish(move_square)
rate.sleep()
rate.sleep()
rate.sleep()
move_square.linear.x = 0.0
move_square.angular.z = 0.0
my_pub.publish(move_square)
rate.sleep()
rate.sleep()
i = i + 1
move_square.linear.x = 0
move_square.angular.z = 0
my_pub.publish(move_square)
rospy.loginfo("Finished service move_bb8_in_square_custom")
response = BB8CustomServiceMessageResponse()
response.success = True
return response # the service Response class, in this case EmptyResponse
def my_callback(request):
executed_repetitions = 0
rospy.loginfo("Your request to move bb8 in a square has been received.")
def go_straight_bb8(side):
move.linear.x = 0.2
pub.publish(move)
rospy.sleep(side)
def turn_bb8():
move.angular.z = 0.2
pub.publish(move)
rospy.sleep(3.9)
def stop_bb8():
move.angular.z = 0.0
move.linear.x = 0.0
pub.publish(move)
rospy.sleep(1.5)
def move_square_bb8():
i = 0
while i < 4:
go_straight_bb8(request.side)
stop_bb8()
turn_bb8()
stop_bb8()
i += 1
while executed_repetitions < request.repetitions:
move_square_bb8()
executed_repetitions += 1
rospy.loginfo("Your bb8 has executed squares for the requested duration.")
# set response of message to True
response = BB8CustomServiceMessageResponse()
response.success = True
return response # the service Response class, in this case MyCustomServiceMessage
def my_callback(request):
# rospy.loginfo("Call back function accesed")
rep = 0
r = request.repetitions
while rep < r:
# repp(request.side,move)
# repp(request.side,move)
# repp(request.side,move)
# repp(request.side,move)
# move.linear.x = 0.0 #stopping
# move.angular.z = 0.0
# pub.publish(move)
# rate_s.sleep()
# rate.sleep()
move_straight(request.side, move)
stop(move)
rate_s.sleep()
rotate(move)
stop(move)
rate_s.sleep()
move_straight(request.side, move)
stop(move)
rate_s.sleep()
rotate(move)
stop(move)
rate_s.sleep()
move_straight(request.side, move)
stop(move)
rate_s.sleep()
rotate(move)
stop(move)
rate_s.sleep()
move_straight(request.side, move)
stop(move)
rate_s.sleep()
rotate(move)
stop(move)
rate_s.sleep()
rep = rep + 1
response = BB8CustomServiceMessageResponse()
response.success = True
return response
def callback(request):
# User feedback to confirm service launch
rospy.loginfo("\"move_bb8_in_square_custom\" service launched")
# Creating a movement object of Move_BB8 class
movebb8_object = Move_BB8()
# Storing custom msg data for use
num_squares = request.repetitions
new_side = request.side
########## Loop to pub square movements ##########
for i in range(num_squares):
# User feedback at start of movement
rospy.loginfo("Squares starting... Side =" + str(new_side) +
" Repetition = " + str(i))
# Calling move_square with desired params
movebb8_object.move_square(side=new_side)
########## Service completion message response ##########
rospy.loginfo("The service \"move_bb8_in_square_custom\" has ended")
response = BB8CustomServiceMessageResponse()
# Set custom message bool to show successful completion
response.success = True
return response
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_square_custom has been called")
print "Request Data==> side=" + str(request.side)
print "Request Data==> repetitions =" + str(request.repetitions)
my_response = BB8CustomServiceMessageResponse()
i = 0
while i < request.repetitions:
ii = 0
while ii < 4:
stime = 2.0
move.linear.x = 0.2
move.angular.z = 0
my_pub.publish(move)
time.sleep(request.side)
move.linear.x = 0.0
move.angular.z = 0.0
my_pub.publish(move)
time.sleep(3)
move.linear.x = 0.0
move.angular.z = 0.2
my_pub.publish(move)
time.sleep(3.7)
move.linear.x = 0.0
move.angular.z = 0.0
my_pub.publish(move)
time.sleep(0.1)
ii += 1
i += 1
my_response.success = True
move.linear.x = 0.0
move.angular.z = 0.0
rospy.loginfo("Finished service move_bb8_in_square_custom")
return my_response # the service Response class, in this case EmptyResponse
