def main():
rospy.init_node('goal_pos')
motionProxy = init_robot.start_motion()
postureProxy = init_robot.start_posture()
markProxy = init_robot.start_mark_detection()
memProxy = init_robot.start_memory()
launcher(motionProxy, postureProxy, markProxy)
pub = rospy.Publisher('goal', Point, queue_size=1)
rate = rospy.Rate(5) #5Hz
while not rospy.is_shutdown():
publish_goal(memProxy, pub)
rate.sleep()
redgoalTrackerProxy.stopTracker()
postureProxy.goToPosture('StandInit', 1.0)
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)
