def execute(self, userdata):
global_data.sub_image = rospy.Subscriber('/vision_objects', DetectedObjects, self.object_callback)
global_data.move_base_client = actionlib.SimpleActionClient('move_base', move_base_msgs.msg.MoveBaseAction)
global_data.pub_vel = rospy.Publisher('/cmd_vel', Twist)
global_data.ik = youbot_ik_solution_modifier()
global_data.detected_objects_counter = 0
sleep(2)
global_data.ik.open_gripper()
global_data.ik.open_gripper()
global_data.ik.open_gripper()
return 'done'
def execute(self, userdata):
global_data.ik = youbot_ik_solution_modifier()
global_data.pubVel = rospy.Publisher('/cmd_vel', Twist)
userdata.object_counter_out = copy.deepcopy(userdata.object_counter_in)
userdata.alignment_out = copy.deepcopy(userdata.alignment_in)
userdata.service_area_height_out = self.__get_service_area_height(userdata.service_area_name_in)
userdata.std_joint_position_out = self.__get_joint_start_position()
userdata.zick_zack_out = self.__get_zick_zack_positions()
userdata.line_out = self.__get_line_positions()
userdata.circle_out = self.__get_circle_positions()
return 'done'
def execute(self, userdata):
userdata.task_spec_out = const_hack(userdata.task_spec_iin)
global_data.pubVel = rospy.Publisher('/cmd_vel', Twist)
global_data.pubVel.publish(Twist())
global_data.ik = youbot_ik_solution_modifier()
time.sleep(2)
global_data.ik.open_gripper() #test
pos = self.get_joint_start_position()
userdata.joint_start_position_out = pos
global_data.ik.change_pos(pos)
time.sleep(2)
userdata.object_lengths_out = self.get_object_lengths()
userdata.service_areas_out = self.get_service_areas()
userdata.joint_start_position_out = pos
userdata.overview_position_out = pos
return 'initialized'
