def setUp(self): rospy.init_node('test_picker') self.picker = PickerRobot('robot_0', 2, 0.9, -20, 43, 0)
animal = Animal('robot_0', 2, 0.5, 20.5, 0, 0) person1 = Person('robot_1', 2, 0.5, 0, 45, 0) person2 = EducatedPerson('robot_2', 2, 0.5, -20.5, 0, 0) tractor = Tractor('robot_3', 2, 0.9, -20.5, 45, 0) binbot1 = Bin('robot_4', 3, 0.5, -8.75, -39, pi/2) binbot2 = Bin('robot_5', 3, 0.5, -1.75, -39, pi/2) binbot3 = Bin('robot_6', 3, 0.5, 1.75, -39, pi/2) binbot4 = Bin('robot_7', 3, 0.5, 5.25, -39, pi/2) picker1 = PickerRobot('robot_8', 3, 0.5, -8.75, -44, 0) picker2 = PickerRobot('robot_9', 3, 0.5, 1, -44, 0) picker3 = PickerRobot('robot_10', 3, 0.5, 7, -44, 0) carrier1 = CarrierRobot('robot_11', 3, 0.5, 35.5, -25, 0) carrier2 = CarrierRobot('robot_12', 2, 0.5, 41.5, -35, 0) # Add all robots to robot_storage. robot_storage.addRobot(animal, "robot_0") robot_storage.addRobot(person1, "robot_1") robot_storage.addRobot(person2, "robot_2") robot_storage.addRobot(tractor, "robot_3") robot_storage.addRobot(binbot1, "robot_4") robot_storage.addRobot(binbot2, "robot_5")