def cbSrvSaveCalibration(self, req):
self.saveCalibration()
return EmptyResponse()
def service_callback(request):
print "Robot Pose:"
print robot_pose
return EmptyResponse(
) # the service Response class, in this case EmptyResponse
def roll(self, req): # self.setGoal(0., 0., .5) self.state = 'roll' self.identservice['roll']() return EmptyResponse()
def __set_status_completed(request):
CodeStatus.set_current_status(CodeStatus.COMPLETED)
return EmptyResponse()
def set_initial_state_service(self, req):
self.set_initial_state()
return EmptyResponse()
def disable_face_detector(req):
face_detector.finalize()
return EmptyResponse()
def _empty_cb(self, req):
rospy.loginfo('{} | Empty service called'.format(self._name))
return EmptyResponse()
def restart(req): global restart restart = True return EmptyResponse()
def _empty_cb(self, req):
rospy.loginfo('Empty service called')
return EmptyResponse()
def disable(self, req):
self.enabled = False
return EmptyResponse()
def use_hand_camera_cb(self, req):
print("eee")
self.flag = True
return EmptyResponse()
def enable(self, req):
self.enabled = True
return EmptyResponse()
def start_catching_service(self, srv):
self.active = True
self.catch_target_balloon()
return EmptyResponse()
def my_callback(request):
print "My_callback has been called"
return EmptyResponse(
) # the service Response class, in this case EmptyResponse
def enable_hand_detector(req):
hand_detector.initialize(stage=stage)
return EmptyResponse()
def cbSrvLeft(self,req):
self.trigger(0)
return EmptyResponse()
def disable_people_detector(req):
pose_detector.finalize()
return EmptyResponse()
def cbSrvForward(self,req):
self.trigger(1)
return EmptyResponse()
def disable_hand_detector(req):
hand_detector.finalize()
return EmptyResponse()
def cbSrvRight(self,req):
self.trigger(2)
return EmptyResponse()
def callback_update_params(self, req):
with self.param_lock:
self.initParameters()
self.rospy.loginfo("[%s] Parameter update after request",
self.name)
return EmptyResponse()
def cancelCB(req):
global g_triangle_point_state
rospy.loginfo("canceled")
g_triangle_point_state.reset()
return EmptyResponse()
'robostilt_state/set_inital_state', Empty, self.set_initial_state_service)
self.rate=rospy.Rate(50)
self.actuators=actuators_state.actuators_state()
orientation_q=msg.quaternion
# Calculate euler angles
orientation_list=[orientation_q.x,
orientation_q.y, orientation_q.z, orientation_q.w]
(self.roll_x, self.pitch_y,
self.yaw_z)=tf.transformations.euler_from_quaternion(orientation_list)
# rospy.loginfo(self.roll_x)
# Calculate euler angles
orientation_list=[orientation_q.x,
# service req is empty
for i in range(0, C.ACTUATOR.count):
self.actuators.actuator[i].motor.stop()
return EmptyResponse()
def raise_frame_while_leveling(self, position):
# move lonely leg normally, leg_2 or leg_5. Move other legs to their max displacement, will abort once lonely leg reaches goal
frame=C.FRAME.EVEN
f.print_ros("Raising frame " + frame.name +
" to position " + str(position) + " ...")
indexes=frame.actuatorIndexes
speed=0.1
level_thereshold=0.0174533
for i in indexes:
speed=0.1
level_thereshold=0.0174533
if(frame.name == C.FRAME.EVEN.name):
lonely_leg=2
def goCB(req):
global g_triangle_point_state
rospy.loginfo("go")
g_triangle_point_state.publishTriangles()
return EmptyResponse()
def _handle_reload_request(self, req):
rospy.loginfo("Reloading capabilities...")
self.__load_capabilities()
return EmptyResponse()
def enable_people_detector(req):
pose_detector.initialize(stage=stage)
return EmptyResponse()
def thrust(self, req): # self.setGoal(0., 0., .5) self.state = 'thrust' self.identservice['thrust']() return EmptyResponse()
def enable_face_detector(req):
face_detector.initialize(stage=stage)
return EmptyResponse()
def pitch(self, req): # self.setGoal(0., 0., .5) self.state = 'pitch' self.identservice['pitch']() return EmptyResponse()
def _stop_random_walk(self, req):
self._running = False
self._action.cancle_action()
return EmptyResponse()
