def __init__(self):
FrontComms.__init__(self, RgbBuoyVision(comms=self))
self.defaultDepth = 1.50
# self.defaultDepth = 0.50 # For US house
self.depthFromMission = self.defaultDepth
self.dynServer = DynServer(Config, self.reconfigure)
def __init__(self):
FrontComms.__init__(self, PoleVision())
signal.signal(signal.SIGINT, self.quit)
signal.signal(signal.SIGTERM, self.quit)
self.con = Config()
#self.dynServer = Server(self.con, self.reconfigure)
self.curHeading = None
self.currDepth = None
self.setDepth = 2.0
self.newDepth = None
self.initTime = 0
self.isCheck = False
self.isDone = False
self.strike_distance = 0.7
self.red_img = None
self.green_img = None
self.total_img = None
self.red_img = None
self.green_img = None
self.isAborted = True
self.isStart = False
if self.isAlone:
self.isStart = True
self.isAborted = False
if not self.isAlone:
self.server = rospy.Service("/pole/mission_to_vision", mission_to_vision, self.handle_srv)
rospy.loginfo("Waiting for mission, mission_to_vision service running")
self.send2Mission = rospy.ServiceProxy("/pole/vision_to_mission",vision_to_mission)
self.send2Mission.wait_for_service(timeout=50)
def __init__(self):
FrontComms.__init__(self, TorpedoVision(comms=self))
self.defaultDepth = 2.5
self.depthFromMission = self.defaultDepth
self.sonarFilter = SonarFilter(comms=self)
self.dynServer = DynServer(Config, self.reconfigure)
self.depthSub = rospy.Subscriber('/depth', depth, self.depthCallback)
def __init__(self):
FrontComms.__init__(self, PegsVision(comms=self))
self.defaultDepth = 2.0
self.dynServer = DynServer(Config, self.reconfigure)
# Initialise mission planner
if not self.isAlone:
self.comServer = rospy.Service("/pegs/mission_to_vision",
mission_to_vision, self.handle_srv)
rospy.loginfo("Waiting for mission planner")
self.toMission = rospy.ServiceProxy("/pegs/vision_to_mission",
vision_to_mission)
self.toMission.wait_for_service()
def __init__(self):
FrontComms.__init__(self, PegsVision(comms=self))
self.defaultDepth = 2.0
self.dynServer = DynServer(Config, self.reconfigure)
# Initialise mission planner
if not self.isAlone:
self.comServer = rospy.Service("/pegs/mission_to_vision",
mission_to_vision,
self.handle_srv)
rospy.loginfo("Waiting for mission planner")
self.toMission = rospy.ServiceProxy("/pegs/vision_to_mission",
vision_to_mission)
self.toMission.wait_for_service()