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')
routine.start_routine()
rospy.spin()
