Ejemplo n.º 1
0
	def getObjectsCallback(self, req):
		res = GetObjectsResponse()
		if req.localization_type == "dynamic":
			for i in range(0, len(self.objects)):
				obj = ObjectMsg()
				obj.x = self.objects.values()[i].x
				obj.y = self.objects.values()[i].y
				obj.message = self.objects.values()[i].message
				obj.type = self.objects.values()[i].type
				if req.object_type == self.objects.values()[i].type or req.object_type == "all" or req.object_type == "":
					if obj.message in res.objects:
						continue
					res.objects.append(obj)
		elif req.localization_type == "static":
			for i in range(0, len(self.static_objects)):
				obj = ObjectMsg()
				obj.x = static_objects[i].x
				obj.y = static_objects[i].y
				obj.message = static_objects[i].message
				obj.type = static_objects[i].type
				res.objects.append(obj)
		elif req.localization_type == "all":
			for i in range(0, len(self.objects)):
				obj = ObjectMsg()
				obj.x = self.objects.values()[i].x
				obj.y = self.objects.values()[i].y
				obj.message = self.objects.values()[i].message
				obj.type = self.objects.values()[i].type
				if req.object_type == self.objects.values()[i].type or req.object_type == "all" or req.object_type == "":
					if obj.message in res.objects:
						continue
					res.objects.append(obj)
			for i in range(0, len(self.static_objects)):
				obj = ObjectMsg()
				obj.x = static_objects[i].x
				obj.y = static_objects[i].y
				obj.message = static_objects[i].message
				obj.type = static_objects[i].type
				res.objects.append(obj)
		else:
			print "No such type"
		res.success = True	
		print res.objects
		return res		
Ejemplo n.º 2
0
def	setObjectClient():
	obj = ObjectMsg()
	obj.x = x
	obj.y = y
	obj.message = msg
	obj.type = type
	rospy.wait_for_service('set_object')
	try:
		set_object = rospy.ServiceProxy('set_object', SetObject)
		resp1 = set_object(obj)
		return resp1.success
	except rospy.ServiceException, e:
		print "Service call failed: %s"%e