def __init__(self, daily_start, daily_end, idle_duration=rospy.Duration(5), charging_point = 'ChargingPoint'):
RobotRoutine.__init__(self, daily_start, daily_end, idle_duration=idle_duration, charging_point=charging_point)
self.node_names = set()
self.current_node = None
self.closest_node = None
self.topological_map = None
self.current_node_msg = None
self.closest_node_msg = None
self.random_nodes = []
rospy.Subscriber('topological_map', TopologicalMap, self.map_callback)
rospy.Subscriber('current_node', String, self.current_node_callback)
rospy.Subscriber('closest_node', String, self.closest_node_callback)
self._ignore_waypoints = [
'ChargingPoint',
'WayPoint0',
'WayPoint1',
'WayPoint2',
'WayPoint11',
'WayPoint9',
'WayPoint10',
'WayPoint12',
'WayPoint14',
'WayPoint13',
'WayPoint3',
'WayPoint4'
]
def __init__(self, daily_start, daily_end, tour_duration_estimate=None):
# super(PatrolRoutine, self).__init__(daily_start, daily_end)
RobotRoutine.__init__(self,
daily_start,
daily_end,
idle_duration=rospy.Duration(5))
self.node_names = []
self.tour_duration_estimate = tour_duration_estimate
rospy.Subscriber('topological_map', TopologicalMap, self.map_callback)
def __init__(self, start, end):
RobotRoutine.__init__(self,
start,
end,
idle_duration=rospy.Duration(5))
self.waypoint = 'WayPoint2'
self.start = start
self.end = end
rospy.sleep(0.5)
if __name__ == '__main__':
rospy.init_node("g4s_routine")
# start and end times -- all times should be in local timezone
localtz = tzlocal()
#the timezone changed to CET for soem reason
start = time(7,30, tzinfo=localtz)
end = time(21,00, tzinfo=localtz)
# how long to stand idle before doing something
idle_duration=rospy.Duration(20)
routine = RobotRoutine(daily_start=start, daily_end=end,
idle_duration=idle_duration)
wait_wps = ['WayPoint3', 'WayPoint4', 'WayPoint5', 'WayPoint9']#, 'ChargingPoint']#, 'WayPoint13']#, 'WayPoint12']
wait_tasks = map(create_wait_task, wait_wps)
metric_wps=['WayPoint13', 'WayPoint18', 'WayPoint9']
metric_tasks=map(create_wait_task, metric_wps)
# set tasks and start execution
routine.create_task_routine(wait_tasks, repeat_delta=timedelta(seconds=(15 * 60)))
routine.create_task_routine(metric_tasks, repeat_delta=timedelta(seconds=(60 * 60)))
routine.runner.add_day_off('Saturday')
routine.runner.add_day_off('Sunday')
def __init__(self, daily_start, daily_end, tour_duration_estimate=None):
# super(PatrolRoutine, self).__init__(daily_start, daily_end)
RobotRoutine.__init__(self, daily_start, daily_end, idle_duration=rospy.Duration(5))
self.node_names = []
self.tour_duration_estimate = tour_duration_estimate
rospy.Subscriber('topological_map', TopologicalMap, self.map_callback)
def __init__(self, daily_start, daily_end, idle_duration=rospy.Duration(5), charging_point = 'ChargingPoint'):
# super(PatrolRoutine, self).__init__(daily_start, daily_end)
RobotRoutine.__init__(self, daily_start, daily_end, idle_duration=idle_duration, charging_point=charging_point)
def __init__(self, daily_start, daily_end, idle_duration=rospy.Duration(5), charging_point = 'ChargingPoint'):
# super(PatrolRoutine, self).__init__(daily_start, daily_end)
RobotRoutine.__init__(self, daily_start, daily_end, idle_duration=idle_duration, charging_point=charging_point)
def __init__(self, daily_start, daily_end, idle_duration=rospy.Duration(5), charging_point = 'ChargingPoint'):
RobotRoutine.__init__(self, daily_start, daily_end, idle_duration=idle_duration, charging_point=charging_point)
self.node_names = set()
self.topological_map = None
rospy.Subscriber('topological_map', TopologicalMap, self.map_callback)
self.random_nodes = []
