def __init__(self, pose, frame, usability):
     if frame != '/map' and frame != 'map':
         if MoveToPoseGoal.tl is None:
             MoveToPoseGoal.tl = tf.TransformListener()
             rospy.sleep(1)
         pose_stamped = PoseStamped()
         pose_stamped.header.frame_id = frame
         pose_stamped.pose = pose
         #tf.Transformer().waitForTransform('/map', frame)
         pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose('/map', pose_stamped)
         pose = pose_stmpd_in_map.pose
     Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)], usability)
 def __init__(self, pose, frame, usability):
     if frame != '/map' and frame != 'map':
         if MoveToPoseGoal.tl is None:
             MoveToPoseGoal.tl = tf.TransformListener()
             rospy.sleep(1)
         pose_stamped = PoseStamped()
         pose_stamped.header.frame_id = frame
         pose_stamped.pose = pose
         #tf.Transformer().waitForTransform('/map', frame)
         pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose(
             '/map', pose_stamped)
         pose = pose_stmpd_in_map.pose
     Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)],
                   usability)
 def __init__(self):
     Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)
 def __init__(self):
     Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)