def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.move_cmd = move_in_robot.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_shovel = control_srv.shovelControlSrv() self.find_ball = find_basketball.find_basketball() self.cmd_position = get_robot_position.robot_position_state()
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.move_cmd = move_in_robot.linear_move() self.cmd_position = get_robot_position.robot_position_state() self.cmd_shoot = control_srv.shootControlSrv() self.cmd_shovel = control_srv.shovelControlSrv() self.find_cylinder = find_cylinder.find_cylinder() rospy.loginfo('The shoot is initial ok!')
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() self.cmd_move_robot = move_in_robot.linear_move() rospy.loginfo('the Shoot_Adjust_Third is initial OK!')
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.move_cmd = move_in_robot.linear_move() rospy.loginfo("the Move Adjust is initial OK!")
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed'], input_keys=['ball_x', 'ball_y', 'ball_theta']) self.move_cmd = move_in_robot.linear_move() rospy.loginfo("the Move Point is initial OK!")
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed'], input_keys=['column_x', 'column_theta']) self.move_cmd = move_in_robot.linear_move() rospy.loginfo("the Shoot Ajdust is initial OK!")
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed'] , output_keys=['ball_x', 'ball_y', 'ball_theta']) self.move_cmd = move_in_robot.linear_move() rospy.loginfo('Start Find the ball!!')
(ud.ball_x,ud.ball_y,ud.ball_theta) = find_volleyball.find_volleyball().find_ball_turn_cw() ======= (ud.ball_x,ud.ball_y,ud.ball_theta) = find_volleyball.find_volleyball.find_ball_turn_cw() >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 ======= (ud.ball_x,ud.ball_y,ud.ball_theta) = find_volleyball.find_volleyball.find_ball_turn_cw() >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 return 'successed' class Find_Ball(smach.State): def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed'] , output_keys=['ball_x', 'ball_y', 'ball_theta']) <<<<<<< HEAD <<<<<<< HEAD self.move_cmd = move_in_robot.linear_move() rospy.loginfo('Start Find the ball!!') def execute(self, ud): if self.preempt_requested(): self.service_preempt() return 'failed' (ball_x,ball_y,ball_theta) = find_volleyball.find_volleyball().find_volleyball() self.move_cmd.turn_to(ball_theta) self.move_cmd.move_to(x = math.sqrt(ball_x * ball_x + ball_y * ball_y) - 1.2) ======= ======= >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 rospy.loginfo('Start Find the ball!!') def execute(self, ud):
# self.cmd_move.move_to(y = -current_y) self.cmd_turn.turn_to(math.pi) self.cmd_return.go_close_line() # self.cmd_move.move_to(x = -2.6) return 'successed' #铲球后调整机器姿态,使其正对传球目标区域中心 class Shoot_Adjust(smach.State): def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) <<<<<<< HEAD <<<<<<< HEAD self.move_cmd = linear_move.linear_move() ======= self.move_cmd = move_in_robot.linear_move() >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 ======= self.move_cmd = move_in_robot.linear_move() >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() rospy.loginfo('The Shoot_Adjust is initial ok!!!!') def execute(self, ud): rospy.loginfo('Start Shoot Adjust') <<<<<<< HEAD <<<<<<< HEAD if self.preempt_requested(): self.service_preempt() return 'failed'