def launcher(motionProxy, postureProxy, markProxy): init_robot.stiffness_on(motionProxy) init_robot.init_pos(postureProxy) videoDeviceProxy = camera.init_camera() camera.up_camera(videoDeviceProxy) period = 500 # ms markProxy.subscribe('goal_pos', period, 0.0)
def main(): motionProxy = init_robot.start_motion() postureProxy = init_robot.start_posture() rospy.init_node('kicker', anonymous=True) if not rospy.has_param('frames'): rospy.set_param('frames', 10) #valor default frames = rospy.get_param('frames') target_x = calculate_target_x(frames) target_y = calculate_target_y(frames) prepare_kick(motionProxy) basic_kick.basic_kick(motionProxy) #kick(motionProxy, target_x, target_y, deviation) trajectory = get_trajectory() rospy.loginfo('Ball trajectory: ' + str(trajectory)) trajectory_to_csv(trajectory, alpha) # print_trajectory(trajectory) init_robot.init_pos(postureProxy)