def __init__(self):
rospy.init_node('mission_control')
self.hmi = wii_interface.WiiInterface()
self.hmi.register_callback_button_A(self.onButtonA)
self.hmi.register_callback_button_up(self.onButtonUp)
self.hmi.register_callback_button_down(self.onButtonDown)
self.client = actionlib.SimpleActionClient(
'kongskilde_row_cleaner/move_tool', move_tool_simpleAction)
self.goal = move_tool_simpleGoal()
self.implement_state = 0
def __init__(self):
rospy.init_node('mission_control')
rospy.loginfo("mission control initialized")
self.odom_topic = rospy.get_param("~odom_topic",'/odom')
self.odom_sub = rospy.Subscriber(self.odom_topic, Odometry, self.onOdometry )
self.hmi = wii_interface.WiiInterface()
rospy.loginfo("Registering save point callback")
self.hmi.register_callback_button_A(self.savePoint)
self.point_list = [Point(588787.7447,6137275.3330,0),Point(588795.7513,6137275.1412,0),Point(588795.9340,6137283.1338,0),Point(588787.9458,6137283.3454,0),Point(588788.1267,6137291.3197,0),Point(588796.1145,6137291.1133,0)]
self.latest_point = Point()
self.save_time = rospy.Time.now()
self.min_time_between_point_save = rospy.Duration(3) # No magic numbers...
def __init__(self):
rospy.init_node('mission_control')
rospy.loginfo("mission control initialized")
self.odom_topic = rospy.get_param("~odom_topic",'/odom')
self.odom_sub = rospy.Subscriber(self.odom_topic, Odometry, self.onOdometry )
self.hmi = wii_interface.WiiInterface()
rospy.loginfo("Registering save point callback")
self.hmi.register_callback_button_A(self.savePoint)
self.point_list = [Point(1,-1,0),Point(5,-1,0),Point(5,-3,0),Point(1,-3,0)]
self.latest_point = Point()
self.save_time = rospy.Time.now()
self.min_time_between_point_save = rospy.Duration(3) # No magic numbers...
def start(self):
rospy.init_node("field_mission")
self.hmi = wii_interface.WiiInterface()
self.hmi.register_callback_button_home(self.on_home)
print "waiting for service"
self.calibrate = rospy.ServiceProxy('/calibrate_throttle', Empty)
rospy.wait_for_service(self.calibrate)
print "got service"
try:
self.sm = self.build()
self.intro_server = smach_ros.IntrospectionServer(
'field_mission', self.sm, '/FIELDMISSION')
self.intro_server.start()
self.smach_thread = threading.Thread(target=self.sm.execute)
self.smach_thread.start()
except Exception as e:
print e
raise Exception("Could not start ")
def __init__(self):
rospy.init_node('mission_control')
rospy.loginfo("mission control initialized")
self.hmi = wii_interface.WiiInterface()
self.hmi.register_callback_button_A(self.onButtonA)
def __init__(self):
rospy.init_node('mission_control')
self.hmi = wii_interface.WiiInterface()
self.hmi.register_callback_button_A(self.onButtonA)
def __init__(self):
rospy.init_node('mission_control')
self.hmi = wii_interface.WiiInterface()
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#****************************************************************************/
import rospy
from wii_interface import wii_interface
"""
Test node for wiimote
"""
if __name__ == '__main__':
try:
rospy.init_node('mission_control')
hmi = wii_interface.WiiInterface()
r = rospy.Rate(10)
while not rospy.is_shutdown():
hmi.publishDeadman()
hmi.publishFeedback()
hmi.publishCmdVel()
# Spin
r.sleep()
rospy.spin()
except rospy.ROSInterruptException:
pass
