def __init__(self): mission_counter = 0 counter = 0 time_per_move = 40 self.roll = 0 self.pitch = 0 self.yaw = 0 self.X = 0 self.Y = 0 self.Z = 0 self.orientation = rospy.Publisher("/rpy", rpy, queue_size = 1) self.position = rospy.Publisher("/move_rov", move, queue_size = 1) rate = rospy.Rate(10) while not rospy.is_shutdown(): if mission_counter == 0 and self.yaw < math.pi: self.yaw += 0.01745 self.Z = -1.0 counter += 1 if self.yaw >= math.pi: self.yaw = -math.pi mission_counter = 1 elif mission_counter == 1 and self.yaw < 0: self.yaw += 0.01745 if self.yaw >= 0.0: mission_counter = 2 rospy.signal_shutdown("mission complete") o = rpy() #Roll pitch Yaw (orientation) p = move() #positional movement o.header.stamp = rospy.Time.now() o.header.frame_id = 'desired_orientation' # i.e. '/odom' o.Roll = self.roll o.Pitch = self.pitch o.Yaw = self.yaw p.header.stamp = rospy.Time.now() p.header.frame_id = 'desired_position' # i.e. '/odom' p.X = self.X p.Y = self.Y p.Z = self.Z self.orientation.publish(o) self.position.publish(p) rate.sleep()
def __init__(self): mission_counter = 0 counter = 0 time_per_move = 40 self.roll = 0 self.pitch = 0 self.yaw = 0 self.X = 0 self.Y = 0 self.Z = 0 self.orientation = rospy.Publisher("/rpy", rpy, queue_size=1) self.position = rospy.Publisher("/move_rov", move, queue_size=1) rate = rospy.Rate(10) while not rospy.is_shutdown(): if mission_counter == 0 and self.yaw < math.pi: self.yaw += 0.01745 self.Z = -1.0 counter += 1 if self.yaw >= math.pi: self.yaw = -math.pi mission_counter = 1 elif mission_counter == 1 and self.yaw < 0: self.yaw += 0.01745 if self.yaw >= 0.0: mission_counter = 2 rospy.signal_shutdown("mission complete") o = rpy() #Roll pitch Yaw (orientation) p = move() #positional movement o.header.stamp = rospy.Time.now() o.header.frame_id = 'desired_orientation' # i.e. '/odom' o.Roll = self.roll o.Pitch = self.pitch o.Yaw = self.yaw p.header.stamp = rospy.Time.now() p.header.frame_id = 'desired_position' # i.e. '/odom' p.X = self.X p.Y = self.Y p.Z = self.Z self.orientation.publish(o) self.position.publish(p) rate.sleep()
def __init__(self): mission_counter = 0 counter = 0 time_per_move = 1000 desired_depth = 2 self.roll = 0 self.pitch = 0 self.yaw = 0 self.X = 0 self.Y = 0 self.Z = 0 self.orientation = rospy.Publisher("/rpy", rpy, queue_size = 1) self.position = rospy.Publisher("/move_rov", move, queue_size = 1) rate = rospy.Rate(10) while not rospy.is_shutdown(): if mission_counter == 0 and counter < time_per_move: self.X = 2.0 self.Z = desired_depth counter += 1 if counter > time_per_move-1: counter = 0 mission_counter = 1 elif mission_counter == 1 and counter < time_per_move: self.X = 0.0 self.Y = -2.0 counter += 1 if counter > time_per_move-1: counter = 0 mission_counter = 2 elif mission_counter == 2 and counter < time_per_move: self.Y = 0.0 counter += 1 if counter > time_per_move-1: counter = 0 mission_counter = 3 rospy.signal_shutdown("mission complete") o = rpy() p = move() o.header.stamp = rospy.Time.now() o.header.frame_id = 'desired_orientation' # i.e. '/odom' o.Roll = self.roll o.Pitch = self.pitch o.Yaw = self.yaw p.header.stamp = rospy.Time.now() p.header.frame_id = 'desired_position' # i.e. '/odom' p.X = self.X p.Y = self.Y p.Z = self.Z self.orientation.publish(o) self.position.publish(p) rate.sleep()