def __init__(self):
self.vision = AnalysisDrop("base_drop")
self.control = CommandInterfaces("DROP")
self.rate = rospy.Rate(5)
self.status_mission = 0
def __init__( self ):
self.control = CommandInterfaces( "strategy" )
self.control.publish_data( "Waiting service name /vision/gate" )
rospy.wait_for_service('/vision/gate')
self.rate = rospy.Rate( 10 )
# Step setup mission Gate
self.mission_gate = Gate()
# Step setup mission Path
self.mission_path = Path()
self.vision_path = AnalysisPath()
# Step setup mission Buoy
self.mission_buoy = Buoy()
self.vision_buoy = AnalysisBuoy()
# Step setup mission Drop
self.mission_drop = Drop()
self.vision_drop = AnalysisDrop()
# Step setup mission Exposed analysis coffin
self.mission_exposed = Exposed()
self.vision_coffin = AnalysisCoffin( "base_coffin" )
self.mission_stake = Stake()
self.vision_stake = AnalysisStake( "base_stake" )
self.current_play = False
# Step setup service of strategy_mission
self.service_service = rospy.Service(
'/mission/strategy' , SendBool() , self.callback_service )
self.control.publish_data( "Waiting command to run mission")
while( not rospy.is_shutdown() ):
if( self.current_play ):
self.main()
self.current_play = False
break
self.rate.sleep()
class Drop:
def __init__(self):
self.vision = AnalysisDrop("base_drop")
self.control = CommandInterfaces("DROP")
self.rate = rospy.Rate(5)
self.status_mission = 0
def start_mission(self):
self.control.publish_data("START doing mission drop")
self.control.activate(['x', 'y', 'z', 'roll', 'pitch', 'yaw'])
self.control.reset_state(0, 0)
self.control.sleep()
target_depth = DROP_FIND_DEPTH
self.control.absolute_z(target_depth)
self.control.publish_data("START waiting depth")
while (not self.control.check_z(0.12)):
self.rate.sleep()
self.control.publish_data("START forward TO FIND TARGET")
self.control.deactivate(['x', 'y'])
found_picture = False
while (not rospy.is_shutdown()):
self.rate.sleep()
self.vision.call_data(DROP_FIND_TARGET)
self.vision.echo_data()
if (self.vision.result['found']):
force_x = 0
force_y = 0
ok_x = False
ok_y = False
found_picture = True
if (self.vision.result['center_x'] > 20):
force_y = SURVEY_RIGHT
elif (self.vision.result['center_x'] < -20):
force_y = SURVEY_LEFT
else:
ok_y = True
if (self.vision.result['center_y'] > 20):
force_x = SURVEY_FORWARD
elif (self.vision.result['center_y'] < -20):
force_x = SURVEY_BACKWARD
else:
ok_x = True
if (ok_x and ok_y):
if (self.control.check_z(0.12)):
if (target_depth < DROP_START_DEPTH):
self.control.publish_data(
"START Now depth is ok next operator")
break
else:
target_depth += DROP_STEP_DEPTH
self.control.absolute_z(target_depth)
self.control.publish_data(
"START command depth (current : target)" +
repr((target_depth, DROP_START_DEPTH)))
else:
self.control.publish_data("START xy ok waiting depth")
self.control.force_xy(force_x, force_y)
self.control.publish_data("START Command force ( x , y ) : " +
repr((force_x, force_y)))
else:
found_picture = False
self.control.force_xy(0, 0)
self.control.force_false()
if (found_picture):
self.control.publish_data(
"START Find target give process to operator")
self.operator()
else:
self.control.publish_data("START Abort mission by command")
self.control.activate(['x', 'y'])
self.control.relative_xy(0, 0)
self.control.absolute_z(DROP_FIND_DEPTH)
self.control.sleep()
def operator(self):
self.control.publish_data("OPERATOR Welcome to operator mission")
self.control.publish_data("OPERATOR command z to " +
str(DROP_START_DEPTH))
self.control.deactivate(['x', 'y'])
self.control.absolute_z(DROP_START_DEPTH)
# This function don't already to use
if DROP_HAVE_TO_ROTATION:
self.control.relative_yaw(DROP_RADIAN_TO_ROTATION)
self.control.sleep()
self.control.publish_data("OPERATOR relative yaw " +
str(DROP_RADIAN_TO_ROTATION))
while (not self.control.check_yaw(0.12)):
self.rate.sleep()
finish = False
count_unfound = 0
while ((not rospy.is_shutdown()) and count_unfound < 5):
self.rate.sleep()
self.vision.call_data(DROP_FIND_TARGET)
self.vision.echo_data()
if (self.vision.result['found']):
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if (self.vision.result['center_x'] > 10):
force_y = TARGET_RIGHT
elif (self.vision.result['center_x'] < -10):
force_y = TARGET_LEFT
else:
ok_y = True
if (self.vision.result['center_y'] > 10):
force_x = TARGET_FORWARD
elif (self.vision.result['center_y'] < -10):
force_x = TARGET_BACKWARD
else:
ok_x = True
if (ok_x and ok_y):
self.control.publish_data(
"OPERATOR Now object is center of frame")
self.control.force_xy(0, 0)
if (self.control.check_z(0.12)):
if (self.vision.result['type']):
self.control.publish_data(
"OPERATOR now process rotation")
self.control.relative_z(0.05, False)
self.control.deactivate(['x', 'y', 'yaw'])
while (not rospy.is_shutdown()):
self.rate.sleep()
self.vision.call_data(DROP_FIND_TARGET)
self.vision.echo_data()
if (self.vision.result['rotation'] > 0.15):
self.control.publish_data(
"OPERATOR rotation left")
self.control.force_xy_yaw(
0, 0, DROP_FORCE_YAW)
elif (self.vision.result['rotation'] < -0.15):
self.control.publish_data(
"OPERATOR rotation right")
self.control.force_xy_yaw(
0, 0, DROP_FORCE_YAW * -1.0)
else:
self.control.force_false()
self.control.publish_data(
"OPERATOR rotation is OK!!!")
self.control.activate(['x', 'y', 'yaw'])
self.control.sleep()
break
self.control.publish_data(
"OPERATOR will continue open ? drop?")
break
else:
self.control.publish_data(
"OPERATOR we don't see 4 point")
if (self.control.check_z(0.12)):
self.control.publish_data("OPERATOR add depth")
self.control.relative_z(DROP_STEP_DEPTH * -1.0)
else:
self.control.publish_data(
"OPERATOR Waiting depth")
else:
self.control.publish_data("OPERATOR Waiting z are ok")
else:
self.control.force_xy(force_x, force_y)
self.control.publish_data("OPERATOR force command : " +
repr((force_x, force_y)))
else:
count_unfound += 1
self.control.force_xy(0, 0)
self.control.publish_data("OPERATOR Don't found picture")
self.control.publish_data("OPERATOR Choose Process")
self.control.deactivate(['x', 'y'])
if (count_unfound == 5):
self.control.publish_data(
"OPERATOR stop process because don't found picture")
else:
self.control.publish_data("OPERATOR chosee drop")
self.control.update_target()
self.drop(DROP_CENTER_X_DROP, self.control.target_pose[2])
if DROP_WANT_OPEN:
self.open(DROP_CENTER_X_OPEN)
self.control.update_target()
target_depth = self.control.target_pose[2]
self.control.publish_data("FINISH will call depth to " +
str(DROP_START_DEPTH))
while not rospy.is_shutdown():
self.rate.sleep()
if self.control.check_z(0.12):
target_depth -= DROP_STEP_DEPTH
if target_depth > DROP_START_DEPTH:
self.control.absolute_z(DROP_START_DEPTH)
else:
self.control.publish_data("FINISH absolute depth is " +
str(DROP_START_DEPTH))
self.control.absolute_z(target_depth)
self.control.sleep()
def drop(self, offset_center, start_depth):
self.control.publish_data("DROP start mission start at depth " +
str(start_depth))
count_unfound = 0
target_depth = start_depth
self.control.deactivate(['x', 'y'])
while ((not rospy.is_shutdown()) and count_unfound < 5):
self.rate.sleep()
self.vision.call_data(DROP_FIND_TARGET)
max_x = offset_center + 5
min_x = offset_center - 5
self.vision.echo_data()
if (self.vision.result['found']):
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if self.vision.result['center_y'] > 10:
force_x = TARGET_FORWARD
elif self.vision.result['center_y'] < -10:
force_x = TARGET_BACKWARD
else:
ok_x = True
if self.vision.result['center_x'] > max_x:
force_y = TARGET_RIGHT
elif self.vision.result['center_x'] < min_x:
force_y = TARGET_LEFT
else:
ok_y = True
if (ok_x and ok_y):
self.control.force_xy(0, 0)
if (self.control.check_z(0.12)):
if (target_depth <= DROP_ONLY_DEPTH):
self.control.publish_data(
"DROP Now depth is target let to drop")
count_unfound = 5
break
else:
self.control.publish_data(
"OPEN new depth ( command, first_target , second_target ) : "
+ repr((target_depth, DROP_TARGET_DEPTH,
DROP_ONLY_DEPTH)))
target_depth += DROP_STEP_DEPTH
self.control.absolute_z(target_depth)
self.control.sleep()
else:
self.control.publish_data(
"DROP now center x y waiting depth")
else:
self.control.publish_data("DROP command force " +
repr((force_x, force_y)))
self.control.force_xy(force_x, force_y)
else:
self.control.publish_data("DROP center mission unfound " +
str(count_unfound))
self.control.force_xy(0, 0)
count_unfound += 1
if (count_unfound == 5):
self.control.absolute_z(DROP_ONLY_DEPTH)
self.control.publish_data("DROP waiting for z before backward")
while (not self.control.check_z(0.12)):
self.rate.sleep()
self.control.publish_data("DROP Process to backward before drop")
start_time = rospy.get_rostime()
diff_time = (rospy.get_rostime() - start_time).to_sec()
while (not rospy.is_shutdown()) and (diff_time <
DROP_BACKWARD_TIME):
self.rate.sleep()
self.control.force_xy(DROP_BACKWARD_FORCE, 0)
diff_time = (rospy.get_rostime() - start_time).to_sec()
self.control.publish_data("DROP Process backward time is " +
str(diff_time))
self.control.force_xy(0, 0)
self.control.publish_data(
"DROPING !!!!!!!!!!!!!!!!!!!!!!!!!!! Finish")
self.control.command_gripper(True)
self.control.sleep()
self.control.absolute_z(DROP_TARGET_DEPTH)
def open(self, offset_center):
self.control.publish_data("OPEN start mission start at depth " +
str(DROP_TARGET_DEPTH))
count_unfound = 0
target_depth = DROP_START_DEPTH
self.control.absolute_z(target_depth)
self.control.publish_data("OPEN waiting depth for doing again")
self.control.sleep()
while (not self.control.check_z(0.12)):
self.rate.sleep()
self.control.deactivate(['x', 'y'])
# This process is process little find target
count_unfound = 0
self.control.publish_data("OPEN little find target")
while not rospy.is_shutdown() and count_unfound < 50:
self.rate.sleep()
self.vision.call_data(DROP_FIND_TARGET)
self.vision.echo_data()
if (self.vision.result['found']):
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if self.vision.result['center_x'] < -15:
force_y = TARGET_LEFT
elif self.vision.result['center_x'] > 15:
force_y = TARGET_RIGHT
else:
ok_y = True
if self.vision.result['center_y'] < -15:
force_x = TARGET_BACKWARD
elif self.vision.result['center_y'] > 15:
force_x = TARGET_FORWARD
else:
ok_x = True
if (ok_x and ok_y):
self.control.publish_data("OPEN now center of target")
break
else:
self.control.publish_data("OPEN command force " +
repr((force_x, force_y)))
self.control.force_xy(force_x, force_y)
else:
count_unfound += 1
self.control.publish_data("OPEN Don't found target " +
str(count_unfound))
self.control.force_xy(TARGET_FORWARD, 0)
while ((not rospy.is_shutdown()) and count_unfound < 5):
self.rate.sleep()
self.vision.call_data(DROP_FIND_TARGET)
self.vision.echo_data()
max_x = offset_center + 10
min_x = offset_center - 10
self.vision.echo_data()
if (self.vision.result['found']):
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if (self.vision.result['center_y'] > 10):
force_x = 0.4
elif (self.vision.result['center_y'] < -10):
force_x = -0.4
else:
ok_x = True
if (self.vision.result['center_x'] > (max_x)):
force_y = -0.8
elif (self.vision.result['center_x'] < (min_x)):
force_y = 0.8
else:
ok_y = True
if (ok_x and ok_y):
self.control.force_xy(0, 0)
if (self.control.check_z(0.12)):
if (target_depth <= DROP_ACTION_DEPTH):
self.control.publish_data(
"OPEN Now depth is target let to open")
count_unfound = 5
break
else:
self.control.publish_data(
"OPEN new depth ( command, first_target , second_target ) : "
+ repr((target_depth, DROP_TARGET_DEPTH,
DROP_ACTION_DEPTH)))
target_depth -= 0.4
self.control.absolute_z(target_depth)
self.control.sleep()
else:
self.control.publish_data(
"OPEN now center x y waiting depth")
else:
self.control.publish_data("OEPN command force " +
repr((force_x, force_y)))
self.control.force_xy(force_x, force_y)
else:
self.control.publish_data("OPEN center mission unfound " +
str(count_unfound))
self.control.force_xy(0, 0)
count_unfound += 1
if (count_unfound == 5):
self.control.publish_data(
"OPEN now picture is unfound ? try to open")
while not rospy.is_shutdown(
) and target_depth <= DROP_ACTION_DEPTH:
if not self.control.check_z(0.15):
target_depth -= 0.4
if (target_depth < DROP_ACTION_DEPTH):
self.control.absolute_z(DROP_ACTION_DEPTH)
break
else:
self.control.absolute_z(target_depth)
self.control.sleep()
self.control.force_xy(0, 0)
self.rate.sleep()
start_time = rospy.get_rostime()
diff_time = (rospy.get_rostime() - start_time).to_sec()
while ((not rospy.is_shutdown()) and diff_time < DROP_TIME_OPEN):
self.rate.sleep()
self.control.force_xy(-0.2, -1.0 * DROP_FORCE_OPEN)
diff_time = (rospy.get_rostime() - start_time).to_sec()
self.control.publish_data("OPEN move left time is " +
str(diff_time))
self.control.force_xy(0, 0)
self.control.publish_data("OPEN Waiting z")
while (not self.control.check_z(0.12)):
self.rate.sleep()
start_time = rospy.get_rostime()
diff_time = (rospy.get_rostime() - start_time).to_sec()
while ((not rospy.is_shutdown())
and diff_time < DROP_TIME_OPEN * 3):
self.rate.sleep()
self.control.force_xy(0, DROP_FORCE_OPEN)
diff_time = (rospy.get_rostime() - start_time).to_sec()
self.control.publish_data("OPEN move right time is " +
str(diff_time))
class StrategySpeed:
def __init__( self ):
self.control = CommandInterfaces( "strategy" )
self.control.publish_data( "Waiting service name /vision/gate" )
rospy.wait_for_service('/vision/gate')
self.rate = rospy.Rate( 10 )
# Step setup mission Gate
self.mission_gate = Gate()
# Step setup mission Path
self.mission_path = Path()
self.vision_path = AnalysisPath()
# Step setup mission Buoy
self.mission_buoy = Buoy()
self.vision_buoy = AnalysisBuoy()
# Step setup mission Drop
self.mission_drop = Drop()
self.vision_drop = AnalysisDrop()
# Step setup mission Exposed analysis coffin
self.mission_exposed = Exposed()
self.vision_coffin = AnalysisCoffin( "base_coffin" )
self.mission_stake = Stake()
self.vision_stake = AnalysisStake( "base_stake" )
self.current_play = False
# Step setup service of strategy_mission
self.service_service = rospy.Service(
'/mission/strategy' , SendBool() , self.callback_service )
self.control.publish_data( "Waiting command to run mission")
while( not rospy.is_shutdown() ):
if( self.current_play ):
self.main()
self.current_play = False
break
self.rate.sleep()
# Start part of all mission
def main( self ):
self.control.reset_state()
self.control.publish_data( "STRATEGY I will start run mission now")
self.mission_gate.start_mission()
self.control.publish_data( "STRATEGY Finish gate next forward and found path")
# This step will use to movement forward
self.control.update_target()
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.deactivate( ['x' , 'y' ] )
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
while( ( not rospy.is_shutdown() ) and diff_time < STRATEGY_TIME_SURVEY_PATH ):
self.rate.sleep()
self.control.force_xy( 0 , STRATEGY_FORCE_SURVEY_PATH )
self.control.publish_data( "STRATEGY survey before path " + str(diff_time) )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
count = 0
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
if STRATEGY_NO_PATH :
self.control.publish_data( "STRATEGY no play path")
temp_yaw = 0
if STRATEGY_FIX_YAW_GATE :
self.control.update_target()
temp_yaw = self.control.target_pose[5]
self.control.publish_data( "STRATEGY remember yaw is " + str( temp_yaw ) )
while( ( not rospy.is_shutdown() ) and diff_time < STRATEGY_TIME_GATE_PATH ):
self.rate.sleep()
self.vision_path.call_data()
self.vision_path.echo_data()
if( self.vision_path.num_point != 0 ):
count += 1
self.control.force_xy( 0 , 0 )
else:
count = 0
self.control.force_xy( STRATEGY_FORCE_GATE_PATH , 0 )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "STRATEGY forward time is " + str( diff_time ) )
if( count == 3 ):
if STRATEGY_NO_PATH :
self.control.publish_data( "!!!!! STRATEGY_NO_PATH FIND PATH !!!!!!!!")
self.control.force_xy( 0 , 0 )
break
self.control.publish_data("!!!!!!!!! STRATEGY FIND PATH !!!!!!!!!!!!!" )
target_depth = -1.0
count_unfound = 0
while( not rospy.is_shutdown() ):
self.rate.sleep()
self.vision_path.call_data()
self.vision_path.echo_data()
relative_x = 0
relative_y = 0
ok_x = False
ok_y = False
if( self.vision_path.num_point == 0 ):
rospy.logfatal("STRATGY path disappear noooooooo")
relative_y = 0
count = 0
relative_y = 0
count_unfound += 1
if count_unfound == 3:
break
continue
elif( self.vision_path.x_point[0] > 30 ):
relative_y = SURVEY_RIGHT
elif( self.vision_path.x_point[0] < -30 ):
relative_y = SURVEY_LEFT
else:
ok_y = True
count_unfound = 0
if( self.vision_path.num_point == 0):
relative_x = 0
elif( self.vision_path.y_point[0] > 20 ):
relative_x = SURVEY_FORWARD
elif( self.vision_path.y_point[0] < -20 ):
relative_x = SURVEY_BACKWARD
else:
ok_x = True
if( ok_x and ok_y ):
self.control.force_xy( 0 , 0 )
if( self.control.check_z( 0.15 ) ):
if( target_depth < PATH_TARGET_DEPTH ):
self.control.publish_data( "STRATEGY Breaking and setup point")
break
else:
target_depth -= 0.5
self.control.publish_data( "STRATEGY I command depth to "
+ str( target_depth ) )
self.control.absolute_z( target_depth )
else:
self.control.publish_data( "STRATEGY command "
+ repr(( relative_x , relative_y ) ) )
self.control.force_xy( relative_x , relative_y )
self.control.force_xy( 0 , 0 )
break
self.control.relative_xy( 0 , 0 )
self.control.activate( ['x' , 'y'] )
# Part to move forward for path If you see path
if( count == 3 ) and not STRATEGY_NO_PATH:
self.control.publish_data( "STRATEGY start mission path on setup_point" )
self.mission_path.setup_point()
elif STRATEGY_NO_PATH :
self.control.publish_data( "STRATEGY don't play path")
self.control.relative_yaw( STRATEGY_ROTATION_GATE_BUOY )
self.control.sleep()
else:
self.control.publish_data( "STRATEGY don't found picture I will rotation" )
self.control.relative_yaw( STRATEGY_ROTATION_GATE_BUOY )
self.control.sleep()
if STRATEGY_FIX_YAW_GATE :
self.control.publish_data( "STRATEGY command fix yaw same rotation of gate")
self.control.absolute_yaw( temp_yaw )
self.control.sleep()
while not self.control.check_yaw( 0.12 ):
self.rate.sleep()
self.control.publish_data( "STRATEGY waiting yaw before start buoy")
while( not self.control.check_yaw( 0.15 ) ):
self.rate.sleep()
# Part of mission buoy
self.control.publish_data( "STRATEGY Command depth " + str( STRATEGY_DEPTH_BOUY ) )
self.control.absolute_z( STRATEGY_DEPTH_BOUY )
self.control.sleep()
while( ( not self.control.check_z( 0.12 ) ) ):
self.rate.sleep()
self.control.publish_data( "STRATEGY start survey for init do mission buoy" )
self.control.deactivate( ['x' , 'y'] )
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
while( ( not rospy.is_shutdown() ) and diff_time < STRATEGY_TIME_BUOY_SURVEY ):
self.control.force_xy( 0 , STRATEGY_FORCE_BUOY_SURVEY )
self.rate.sleep()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "STRATEGY Survey is diff time " + str( diff_time ) )
self.control.force_xy( 0 , 0 )
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
count_found = 0
pass_buoy = False
while( ( not rospy.is_shutdown() ) and diff_time < STRATEGY_TIME_BUOY ):
self.rate.sleep()
self.vision_buoy.call_data()
self.vision_buoy.echo_data()
if( self.vision_buoy.result[ 'found' ] ):
count_found += 1
if( count_found == 3 ):
self.control.publish_data( "STRATEGY I will call mission_buoy lock_target")
self.mission_buoy.lock_target()
pass_buoy = True
else:
self.control.publish_data( "STRATEGY count found buoy is "
+ str( count_found ) )
force_x = 0
force_y = 0
if( self.vision_buoy.result[ 'center_x'] < -30 ):
force_y = SURVEY_LEFT
elif( self.vision_buoy.result[ 'center_x'] > 30 ):
force_y = SURVEY_RIGHT
else:
force_x = TARGET_FORWARD
self.control.publish_data( "Command force_xy is " + repr((force_x , force_y)) )
self.control.force_xy( force_x , force_y )
else:
self.control.publish_data( "STRATEGY I not found bouy and time is "
+ str( diff_time ) )
count_found = 0
self.control.force_xy( STRATEGY_FORCE_BUOY , 0 )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.activate( ['x' , 'y'] )
if( not pass_buoy ):
self.control.publish_data( "STRATEGY will give process to find_target")
self.mission_buoy.find_target()
else:
self.control.publish_data( "STRATEGY Finish buoy I will go next for path")
# Start path move forward and searching
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
if STRATEGY_NO_PATH :
self.control.publish_data( "STRATEGY Don't play path")
else:
self.control.publish_data( "STRATEGY command depth -1 meter")
self.control.absolute_z( -1 )
self.control.deactivate( ['x' , 'y' ] )
count = 0
while( ( not rospy.is_shutdown() ) and diff_time < STRATEGY_TIME_BUOY_PATH ):
self.rate.sleep()
self.vision_path.call_data()
self.vision_path.echo_data()
if( self.vision_path.num_point != 0 ):
count += 1
self.control.force_xy( 0 , 0 )
else:
self.control.force_xy( STRATEGY_FORCE_BUOY_PATH , 0 )
count = 0
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "STRATEGY forward time is " + str( diff_time ) )
if( count == 4 ):
if STRATEGY_NO_PATH :
self.control.publish_data("!!!!!!! STRATEGY_NO_PATH Find path !!!!!!!!")
self.control.force_xy( 0 , 0 )
break
self.control.publish_data("!!!!!!!!! STRATEGY FIND PATH !!!!!!!!!!!!!" )
target_depth = -1.0
count_unfound = 0
while( not rospy.is_shutdown() ):
self.rate.sleep()
self.vision_path.call_data()
self.vision_path.echo_data()
relative_x = 0
relative_y = 0
ok_x = False
ok_y = False
if( self.vision_path.num_point == 0 ):
rospy.logfatal("STRATGY path disappear noooooooo")
count = 0
relative_y = 0
count_unfound += 1
if count_unfound == 3:
break
continue
elif( self.vision_path.x_point[0] > 30 ):
relative_y = TARGET_RIGHT
elif( self.vision_path.x_point[0] < -30 ):
relative_y = TARGET_LEFT
else:
ok_y = True
count_unfound = 0
if( self.vision_path.num_point == 0):
relative_x = 0
elif( self.vision_path.y_point[0] < -60 ):
relative_x = TARGET_BACKWARD * 2.0
elif( self.vision_path.y_point[0] > 20 ):
relative_x = TARGET_FORWARD
elif( self.vision_path.y_point[0] < -20 ):
relative_x = TARGET_BACKWARD
else:
ok_x = True
if( ok_x and ok_y ):
self.control.force_xy( 0 , 0 )
if( self.control.check_z( 0.15 ) ):
if( target_depth < PATH_TARGET_DEPTH ):
self.control.publish_data( "Breaking and go to setup point")
break
else:
target_depth -= 0.5
self.control.publish_data( "STRATGY I command depth to "
+ str( target_depth ) )
self.control.absolute_z( target_depth )
else:
self.control.publish_data( "STRATEGY command "
+ repr(( relative_x , relative_y ) ) )
self.control.force_xy( relative_x , relative_y )
self.control.force_xy( 0 , 0 )
break
# End part to search parh
self.control.activate( ['x' , 'y'] )
self.control.relative_xy( 0 , 0 )
self.control.sleep()
if( count == 4 ) and not STRATEGY_NO_PATH:
self.control.publish_data( "I start path by ever found path" )
self.mission_path.setup_point()
elif STRATEGY_NO_PATH :
self.control.publish_data( "STRATEGY No play path")
self.control.relative_yaw( STRATEGY_ROTATION_BUOY_DROP )
self.control.sleep()
else:
self.control.publish_data( "Try to survey find path")
if( self.mission_path.find_path() ):
self.control.publish_data( "Good luck You finish second path")
else:
self.control.publish_data( "It bad you failure mission path rotation to drop" )
self.control.relative_yaw( STRATEGY_ROTATION_BUOY_DROP )
# Start part for search drop garliac mission
self.control.activate( ['x' , 'y'] )
self.control.sleep()
self.control.absolute_z( STRATEGY_DEPTH_FIND_DROP )
self.control.sleep()
self.control.publish_data( "STRATEGY Command depth at "
+ str( STRATEGY_DEPTH_FIND_DROP - 0.5) )
while( not self.control.check_z( 0.15 ) ):
self.rate.sleep()
self.control.absolute_z( STRATEGY_DEPTH_FIND_DROP )
self.control.publish_data( "STRATEGY Command depth at " + str(STRATEGY_DEPTH_FIND_DROP))
self.control.publish_data( "Waiting yaw")
while( not self.control.check_yaw( 0.12 ) ):
self.rate.sleep()
self.control.deactivate( ['x' , 'y'] )
self.control.force_xy( STRATEGY_FORCE_DROP , 0 )
# Move free move
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "STRATEGY Move free time for drop")
while( (not rospy.is_shutdown() ) and diff_time < STRATEGY_FREE_TIME_DROP ):
self.rate.sleep()
self.control.force_xy( STRATEGY_FREE_FORCE_DROP , 0 )
self.control.publish_data( "STRATEGY Move free time is "
+ repr( ( diff_time , STRATEGY_FREE_TIME_DROP ) ) )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "START FORWARD TO FIND DROP MISSION" )
count_found = 0
self.control.force_xy( STRATEGY_FORCE_DROP , 0 , True )
while( ( not rospy.is_shutdown() ) and diff_time < STRATEGY_TIME_DROP ):
self.rate.sleep()
self.vision_drop.call_data( DROP_FIND_TARGET )
self.vision_drop.echo_data()
if( self.vision_drop.result['found'] ):
count_found += 1
if( count_found == 5 ):
self.control.publish_data( "STRATEGY Focuse on target")
target_depth = STRATEGY_DEPTH_FIND_DROP
self.control.force_xy( 0 , 0 )
while( ( not rospy.is_shutdown() ) and count_found > 0 ):
self.rate.sleep()
self.vision_drop.call_data( DROP_FIND_TARGET )
self.vision_drop.echo_data()
if( self.vision_drop.result['found'] ):
count_found = 5
else:
count_found -= 1
self.control.publish_data( "Don't found picture "
+ str( count_found ) )
continue
force_x = 0
force_y = 0
if( ( abs( self.vision_drop.result['center_x'] ) > 15 ) or
( abs( self.vision_drop.result['center_y'] ) > 15 ) ):
if( self.vision_drop.result['center_y'] < -15 ):
force_x = TARGET_BACKWARD
elif( self.vision_drop.result['center_y'] > 15 ):
force_x = TARGET_FORWARD
else:
pass
if( self.vision_drop.result['center_x'] > 15 ):
force_y = SURVEY_RIGHT
elif( self.vision_drop.result['center_x'] < -15 ):
force_y = SURVEY_LEFT
else:
pass
self.control.publish_data("Command force {:6.3f} , {:6.3f}".format(
force_x , force_y ) )
self.control.force_xy( force_x , force_y )
else:
if( self.control.check_z( 0.12 ) ):
if( target_depth > DROP_START_DEPTH ):
self.control.publish_data( "Command to depth at "
+ str( DROP_START_DEPTH ) )
self.control.absolute_z( DROP_START_DEPTH )
target_depth = DROP_START_DEPTH
else:
self.control.publish_data( "Depth is ok")
break
else:
self.control.force_xy( 0 , 0 )
self.control.publish_data( "Now center waiting detph")
break
else:
count_found = 0
distance = self.control.force_xy( STRATEGY_FORCE_DROP , 0 )
diff_time = (rospy.get_rostime() - start_time).to_sec()
self.control.publish_data(
"time ( {:6.3f} , {:6.3f} ) and distance ( {:6.3f} , {:6.3f} ) found ".format(
diff_time , STRATEGY_TIME_DROP , distance , STRATEGY_DISTANCE_DROP )
+ str( count_found ) )
if( distance > STRATEGY_DISTANCE_DROP ):
self.control.publish_data( "Abort to find drop by distance")
break
self.control.activate( ['x' , 'y' ] )
self.control.relative_xy( 0 , 0 )
if( count_found > 0 ):
self.control.publish_data( "Found picture next play drop by operator function")
self.mission_drop.operator()
else:
self.control.publish_data( "Don't found drop" )
if STRATEGY_CHOICE_PROCESS == 0 :
self.control.publish_data( "STRATEGY to choose process last mission by don't use dvl")
self.not_use_dvl()
elif STRATEGY_CHOICE_PROCESS == 1 :
self.control.publish_data( "STRATEGY to choose process last mission by use DVL")
self.use_dvl()
else:
self.control.publish_data( "STRATEGY to choose process last missiob by use pinger")
# End part of play all mission
self.control.publish_data( "Finish all strategy mission" )
self.control.deactivate( ("x", "y", "z", "roll", "pitch", "yaw") )
def callback_service( self , request ):
if( request.data == True ): # Want to play
if( not self.current_play ):
self.current_play = True
else:
rospy.logfatal( "Warning node alredy play you can't do that" )
else:
rospy.loginfo( "Service call to code node")
rospy.signal_shutdown( "Service call to close or stop mission")
return SendBoolResponse()
def use_dvl( self ):
self.control.publish_data( "STRATEGY use DVL start mission by target at exposed")
self.control.update_target()
collective_target_yaw = zeabus_math.bound_radian(
self.control.target[ 5 ] + STRATEGY_ROTATION_STAKE )
self.control.absolute_z( STRATEGY_EXPOSED_FIND )
self.control.publish_data( "STRATEGY command depth to " + str( STRATEGY_EXPOSED_FIND ) )
self.control.sleep()
self.control.relative_yaw( STRATEGY_ROTATION_EXPOSED )
self.control.publish_data( "STRATEGY rotation for find target coffin to exposed " + str(
STRATEGY_ROTATION_EXPOSED ) )
self.control.sleep()
while not self.control.check_yaw( 0.15 ):
self.rate.sleep()
self.control.publish_data( "STRATEGY distance survey is " + str( STRATEGY_DISTANCE_SURVEY ) )
self.control.relative_xy( 0 , STRATEGY_DISTANCE_SURVEY )
self.control.sleep()
while not self.control.check_xy( 0.15 , 0.15 ):
self.rate.sleep()
self.control.publish_data( "STRATEGY distance forward is " + str(STRATEGY_DISTANCE_FORWARD) )
self.control.relative_xy( STRATEGY_DISTANCE_FORWARD , 0 )
self.control.update_target()
collective_point = ( self.control.target_pose[0] , self.control.target_pose[1] )
play_mission = False
count_found = 0
while not self.control.check_xy( 0.15 , 0.15 ) :
self.rate.sleep()
self.vision_coffin.call_data()
self.vision_coffin.echo_data()
if self.vision_coffin.result['num_object'] > 0 :
count_found += 1
if count_found == 3:
self.control.publish_data( "STRATEGY Find coffind stop survey and make center")
self.control.deactivate( ('x' , 'y' ) )
count_unfound = 0
while ( not rospy.is_shutdown() ) and count_unfound < 3 :
self.rate.sleep()
self.vision_coffin.call_data()
self.vision_coffin.echo_data()
if self.vision_coffin.result['num_object'] > 0 :
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if self.vision_coffin.result['center_x'] < -20 :
force_y = SURVEY_LEFT
elif self.vision_coffin.result['center_x' ] > 20 :
force_y = SURVEY_RIGHT
else:
ok_y = True
if self.vision_coffin.result['center_y'] < -20 :
force_x = SURVEY_BACKWARD
elif self.vision_coffin.result['center_y'] > 20 :
force_x = SURVEY_FORWARD
else:
ok_x = True
if ok_x and ok_y :
count_found = 3
self.control.publish_data( "STRATEGY now center point of coffin")
self.control.force_xy( 0 , 0 )
break
else:
self.control.force_xy( force_x , force_y )
self.control.publish_data( "STRATEGY command force "
+ repr( (force_x , force_y ) ) )
else:
count_unfound += 1
count_found = 0
self.control.activate( ('x' , 'y' ) )
if count_unfound == 3 :
self.control.publish_data( "STRATEGY think target it is noise continue")
self.control.absolute_xy( collective_point[0] , collective_point[1] )
self.control.sleep()
else:
break
else:
self.control.publish_data( "STRATEGY found coffin object is "
+ str( count_found ))
else:
count_found = 0
result = False
if count_found == 3 :
self.mission_exposed.operator()
result = True
else:
result = self.mission_exposed.find()
if result:
self.control.publish_data( "STRATEGY finish play exposed consider try to play stake")
self.control.absolute_yaw( collective_target_yaw )
self.control.publish_data( "STRATEGY command target yaw is "
+ str( collective_target_yaw ) )
self.control.absolute_z( STRATEGY_STAKE_DEPTH )
self.control.publish_data( "STRATEGY command depth to "
+ str( STRATEGY_STAKE_DEPTH ) )
self.control.sleep()
while not self.control.check_yaw( 0.15 ):
self.rate.sleep()
self.control.relative_xy( 0 , STRATEGY_STAKE_DISTANCE_SURVEY )
self.control.publish_data( "STRATEGY command survey is "
+ str( STRATEGY_STAKE_DISTANCE_SURVEY ) )
self.control.sleep()
while not self.control.check_xy( 0.15 ):
self.rate.sleep()
self.control.relative_xy( STRATEGY_STAKE_DISTANCE_FORWARD , 0 )
self.control.publish_data( "STRATEGY command forward is "
+ str( STRATEGY_STAKE_DISTANCE_FORWARD ) )
self.control.sleep()
self.control.update_target()
collective_point = ( self.control.target_pose[0] , self.control.target_pose[1] )
count_found = 0
while ( not self.control.check_xy( 0.15 ) ) and count_found < 3 :
self.rate.sleep()
self.vision_stake.call_data( STAKE_FIND_TARGET )
self.vision_stake.echo_data()
if self.vision_stake.result['found'] :
count_found += 1
if count_found == 3 :
self.control.publish_data( "STRATEGY Now found target stop and focus")
count_unfound = 0
self.control.deactivate( ('x' , 'y' ) )
while ( not rospy.is_shutdown() ) and count_unfound < 3 :
self.rate.sleep()
self.vision_stake.call_data( STAKE_FIND_TARGET )
self.vision_stake.echo_data()
if self.vision.result['found'] :
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_z = False
if self.vision.result['center'][0] > 10 :
force_y = TARGET_LEFT
elif self.vision.result['center'][0] < -10 :
force_y = TARGET_RIGHT
else:
ok_x = True
if self.vision.result['area'] < STRATEGY_STAKE_AREA_FOCUS / 1.5:
force_x = TARGET_FORWARD
else:
ok_z = True
if ok_x and ok_z :
count_found = 3
self.control.force_xy( 0 , 0 )
self.mission_stake.operator()
break
else:
self.control.force_xy( force_x , force_y )
self.control.publish_data("STRATEGY command force is " + repr(
force_x , force_y ) )
else:
count_unfound += 1
self.control.activate( ('x' , 'y' ) )
if count_unfound == 3:
self.control.publish_data( "STRATEGY target disapper" )
self.control.absolute_xy( collective_point[0] , collective_point[1] )
self.control.sleep()
else:
self.control.publish_data( "STRATEGY Give process to stake")
else:
self.control.publish_data( "STRATEGY found target " + str( count_found ) )
else:
count_found = 0
else:
self.control.publish_data( "STRATEGY don't continue to play because exposed false")
def not_use_dvl( self ):
self.control.publish_data( "STRATEGY not use DVL start mission by target at exposed")
self.control.update_target()
collective_target_yaw = zeabus_math.bound_radian(
self.control.target[5] + STRATEGY_ROTATION_STAKE )
self.control.absolute_z( STRATEGY_EXPOSED_FIND )
self.control.publish_data( "STRATEGY command depth to " + str( STRATEGY_EXPOSED_FIND ) )
self.control.sleep()
self.control.relative_yaw( STRATEGY_ROTATION_EXPOSED )
self.control.publish_data( "STRATEGY rotation for find target coffin to exposed " + str(
STRATEGY_ROTATION_EXPOSED ) )
self.control.sleep()
while not self.control.check_yaw( 0.12 ):
self.rate.sleep()
while not self.control.check_z( 0.12 ):
self.rate.sleep()
self.control.deactivate( ('x', 'y') )
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
while not rospy.is_shutdown() and diff_time < STRATEGY_TIME_SURVEY:
self.rate.sleep()
self.control.force_xy( 0 , STRATEGY_FORCE_SURVEY )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "STRATEGY Survey for expose on time " + str( diff_time ) )
self.control.force_xy( 0 , 0 )
self.control.activate( ('x' , 'y' ) )
self.control.publish_data( "STRATEGY Waiting yaw before forward")
while not self.control.check_yaw( 0.12 ) :
self.rate.sleep()
self.control.deactivate( ('x' , 'y') )
self.control.publish_data( "STRATEGY forward to find exposed" )
count_found = 0
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
while (not rospy.is_shutdown()) and diff_time < STRATEGY_TIME_FORWARD and count_found < 5 :
self.rate.sleep()
self.vision_coffin.call_data()
self.vision_coffin.echo_data()
if self.vision.result['num_object'] > 0 :
count_found += 1
force_x = 0
force_y = 0
ok_x = False
ok_y = False
self.control.publish_data( "STRATEGY found target command force "
+ repr( (force_x , force_y ) ) )
if self.vision_coffin.result['center_x'] < -20 :
force_y = SURVER_LEFT
elif self.vision_coffin.result['center_x'] > 20 :
force_y = SURVEY_RIGHT
else:
ok_y = True
if( self.vision_coffin.result['center_y'] < -20 ):
force_x = SURVEY_BACKWARD
elif self.vision_coffin.result['center_y'] > 20:
force_x = SURVEY_FORWARD
else:
ok_x = True
if( ok_x and ok_y ):
count_found = 5
self.control.publish_data( "STRATEGY now center point of coffin")
else:
self.control.force_xy( force_x , force_y )
self.control.publish_data( "STRATEGY Have picture command force " + repr( (
force_x , force_y ) ) )
else:
count_found = 0
self.control.force_xy( SURVEY_FORWARD , 0 )
self.control.publish_data("STRATEGY Don't found target command survey forward")
diff_time = (rospy.get_rostime() - start_time).to_sec()
self.control.activate( [ 'x' , 'y' ] )
result = False
if( count_found == 5 ):
self.control.publish_data( "STRATEGY finish and found object let operator")
self.mission_exposed.operator()
result = True
else:
self.mission_exposed.publish_data( "STRATEGY finish forward search let find object")
result = self.mission_exposed.find()
if result :
self.control.publish_data( "STRATEGY success mission I will try to continue stake" )
self.control.absolute_yaw( collective_target_yaw )
self.control.publish_data( "STRATEGY command absolute yaw "
+ str( collective_target_yaw ) )
self.control.sleep()
while not self.control.check_yaw( 0.12 ):
self.rate.sleep()
self.control.absolute_z( STRATEGY_STAKE_DEPTH )
self.control.publish_data( "STRATEGY command absolute depth is "
+ str( STRATEGY_STAKE_DEPTH ) )
self.control.deactivate( ('x' , 'y' ) )
start_time = rospy.get_rostime()
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data("STRATEGY forward before survey to stake mission")
while ( not rospy.is_shutdown() ) and diff_time < STRATEGY_STAKE_TIME_FORWARD :
self.rate.sleep()
self.control.force_xy( STRATEGY_STAKE_FORCE_FORWARD , 0 )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.control.publish_data( "STRATEGY backward to stake on time " + str(diff_time) )
self.control.activate( ('x' , 'y') )
self.control.force_false()
self.control.publish_data( "STRATEGY waiting yaw")
while not self.control.check_yaw( 0.15 ):
self.rate.sleep()
self.control.deactivate( ( 'x' , 'y' ) )
stat_time = rospy.get_rostime()
diff_time = 0
count_found = 0
while ( not rospy.is_shutdown() ) and diff_time < STRATEGY_STAKE_TIME_SURVEY :
self.rate.sleep()
self.control.force_xy( 0.0 , STRATEGY_STAKE_FORCE_SURVEY )
diff_time = ( rospy.get_rostime() - start_time ).to_sec()
self.vision_stake.call_data()
self.vision_stake.echo_data()
if self.vision_stake.result['found']:
count_found += 1
if count_found == 3 :
self.control.publish_data( "STRATEGY find stake I will target on that")
count_unfound = 0
self.control.force_xy( 0 , 0 )
while not rospy.is_shutdown() and count_unfound < 3 :
self.rate.sleep()
self.vision_stake.call_data( STAKE_FIND_TARGET )
self.vision_stake.echo_data()
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if self.vision_stake.result['found'] :
count_unfound = 0
if self.vision_stake.result['center'][0] > 20 :
force_y = TARGET_RIGHT
elif self.vision_stake.result['center'][1] < -20 :
force_y = TARGET_LEFT
else:
ok_y = True
if self.vision.result['area'] < STRATEGY_STAKE_AREA_FOCUS :
force_x = TARGET_FORWARD
else:
ok_x = True
if ok_x and ok_y :
self.control.force_xy( 0 , 0 )
self.control.publish_data( "STRATEGY get process to stake")
self.mission_stake.operator()
break
else:
self.control.publish_data( "STRATEGY focuse target "
+ repr( ( force_x , force_y ) ) )
else:
count_unfound += 1
self.control.publish_data( "STRATEGY Don't found target "
+ str( count_unfound ) )
self.control.force_xy( 0 , 0 )
if count_unfound == 3:
self.control.publish_data( "Strategy Continue until time out")
count_found = 0
else:
self.control.publish_data( "STRATEGY Finish play break by after play")
break
else:
count_found = 0
self.control.publish_data( "STRATEGY count found " + str( count_found ) )
else:
self.control.publish_data( "STRATEGY faliure mission exposed don't play stake" )
self.control.publish_data( "STRATEGY finish function play not_use_dvl")
class Drop:
def __init__( self ):
self.vision = AnalysisDrop( "base_drop" )
self.control = CommandInterfaces( "DROP")
self.rate = rospy.Rate( 5 )
self.status_mission = 0
def start_mission( self ): # This use in case you only run single mission
self.control.publish_data( "START doing mission drop" )
self.control.reset_state( 0 , 0 )
target_depth = -1
self.control.absolute_z( target_depth )
self.control.publish_data( "START waiting depth")
while( not rospy.is_shutdown() ):
self.rate.sleep()
self.control.publish_data( "START forward TO FIND DROP" )
self.control.deactivate( ['x' , 'y' ] )
found_picture = False
while( not rospy.is_shutdown() ):
self.rate.sleep()
self.vision.call_data( DROP_FIND_TARGET )
self.vision.echo()
if( self.vision.result['found'] ):
force_x = 0
force_y = 0
ok_x = False
ok_y = False
found_picture = True
if( self.vision.result['center_x'] > 20 ):
force_y = -1.4
elif( self.vision.result['center_x'] < -20 ):
force_y = 1.4
else:
ok_y = True
if( self.vision.result['center_y'] > 20 ):
force_x = 1.0
elif( self.vision.result[ 'center_y' ] < -20 ):
force_x = -1.0
else:
ok_x = True
if( ok_x and ok_y ):
if( self.control.check_z( 0.12 ) ):
if( target_depth < -1.5 ):
break
else:
target_depth -= 0.3
self.control.absolute_z( target_depth )
self.control.publish_data("START command depth at "
+ str(target_depth) )
self.command.force_xy( force_x , force_y )
self.control.publish_data( "Command force ( x , y ) : "
+ repr( (force_x , fource_y ) ) )
else:
found_picture = False
self.command.force_xy( 0.8 , 0 )
self.command.force_false()
if( found_picture ):
self.control.publish_data( "Abort mission by command" )
else:
self.control.publish_data( "START Find target give process to operator")
self.control.activate( [ 'x' , 'y' ] )
def operator( self ):
self.control.publish_data( "OPERATOR Welcome to operator mission")
self.control.publish_data( "OPERATOR command z to " + str( DROP_START_DEPTH ) )
self.control.absolute_z( DROP_START_DEPTH )
# This function don't already to use
if( DROP_HAVE_TO_ROTATION ):
None
finish = False
count_unfound = 0
while( ( not rospy.is_shutdown() ) and count_unfound < 3 ):
self.rate.sleep()
self.vision.call_data( DROP_FIND_TARGET )
self.vision.echo_data()
if( self.vision.result['found'] ):
count_unfound = 0
force_x = 0
force_y = 0
ok_x = False
ok_y = False
if( self.vision.result['center_x'] > 20 ):
force_y = -1.5
elif( self.vision.result['center_x'] < -20 ):
force_y = 1.5
else:
ok_y = True
if( self.vision.result['center_y'] > 20 ):
force_x = 1.2
elif( self.vision.result['center_y'] < -20 ):
force_x = -1.2
else:
ok_x = True
if( ok_x and ok_y ):
self.control.publish_data( "OPERATOR Now object is center of frame")
if( self.control.check_z( 0.12 ) ):
if( self.vision.result['type'] ):
self.control.publish_data( "OPERATOR Yes I see 4 point")
self.control.deactivate( ['x' , 'y' , 'yaw' ] )
while( not rospy.is_shutdown() ):
self.rate.sleep()
self.vision.call_data( DROP_FIND_TARGET )
self.vision.echo_data()
if( self.vision.result['rotation'] ):
else:
self.control.publish_data( "OPERATOR we don't see 4 point")
self.control.relative_z( 0.2 )
else:
count_unfound += 1
self.control.publish_data( "OPERATOR Don't found picture")