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)
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 = []
