def __init__(self, *args, **kwargs):
self.NAME = "Search Controller"
super(Search_Controller, self).__init__(*args, **kwargs)
l = rospy.get_param("~major_axis")
w = rospy.get_param("~minor_axis")
x0 = rospy.get_param("~x_center")
y0 = rospy.get_param("~y_center")
alt = rospy.get_param("~alt")
grid_step = rospy.get_param("~scan_step")
self.search_speed = rospy.get_param("~search_speed",
DEFAULT_MAX_SPEED_XY)
# self.wp_list = Utils.elliptical_wp(l,w,x0,y0,grid_step,alt)
self.wp_list = Utils.single_wp()
self.track_counter = 0
self.tracking = False
def startup(self):
#Load the mission waypoints
self.wp_list = Utils.single_wp()
