def spawnGenEnvironment(req):
initial_pose = Pose()
initial_pose.position.x = 0
initial_pose.position.y = 0
initial_pose.position.z = 0
quaternion = tf.transformations.quaternion_from_euler(0, 0, 0)
initial_pose.orientation.x = quaternion[0]
initial_pose.orientation.y = quaternion[1]
initial_pose.orientation.z = quaternion[2]
initial_pose.orientation.w = quaternion[3]
f = open(
'/home/knmcguire/Software/catkin_ws/src/indoor_environment_generator/models/random_generated_environment/test_model.sdf',
'r')
sdff = f.read()
rospy.wait_for_service('gazebo/spawn_sdf_model')
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
spawn_model_prox("some_robo_name", sdff, "robotos_name_space",
initial_pose, "world")
msg = Trigger()
msg.succes = True
msg.message = "jeej"
return []
def _toggle(req):
global _ctrl_on
_ctrl_on = not _ctrl_on
srv = Trigger()
srv.success = True
srv.message = "Controller is {}".format(_ctrl_on)
return TriggerResponse(True, "Controller is {}".format(_ctrl_on))
def _toggle(req):
global _ctrl_on
_ctrl_on = not _ctrl_on
srv = Trigger()
srv.success = True
srv.message = "Controller is {}".format(_ctrl_on)
return TriggerResponse(True, "Controller is {}".format(_ctrl_on))
def callback(self, message):
self.latest_message = message
self.detection_dict = self.four_sector_detection()
crashed, direction = self.has_crashed():
if crashed:
trigger = Trigger()
trigger.success = False
trigger.message = direction
self.crash_publisher.publish(trigger)
