def execute(self, userdata):
rospy.loginfo("Opening fishing module")
fishing_y_axis_deploy(True)
rospy.sleep(0.5)
set_fish_ejector(False)
fishing_z_axis_deploy(True)
rospy.sleep(0.5)
fishing_impeller_deploy(True)
rospy.sleep(5)
# if TEAM == Team.GREEN:
# move_base_override.move(0.10, duration=2.0)
# move_base_override.move(-0.10, duration=2.0)
# else:
# move_base_override.move(-0.10, duration=2.0)
# move_base_override.move(0.10, duration=2.0)
rospy.loginfo("Fishing...")
fishing_impeller_deploy(False)
rospy.sleep(0.5)
fishing_z_axis_deploy(False)
rospy.sleep(0.5)
if TEAM == Team.GREEN:
move_base_override.move(-0.10, duration=2.0)
else:
move_base_override.move(0.10, duration=2.0)
rospy.loginfo("Holding fishing module")
return Transitions.SUCCESS
def execute(self, userdata):
rospy.loginfo("Opening fishing module")
fishing_y_axis_deploy(True)
rospy.sleep(0.5)
set_fish_ejector(False)
fishing_z_axis_deploy(True)
rospy.sleep(0.5)
fishing_impeller_deploy(True)
rospy.sleep(5)
# if TEAM == Team.GREEN:
# move_base_override.move(0.10, duration=2.0)
# move_base_override.move(-0.10, duration=2.0)
# else:
# move_base_override.move(-0.10, duration=2.0)
# move_base_override.move(0.10, duration=2.0)
rospy.loginfo("Fishing...")
fishing_impeller_deploy(False)
rospy.sleep(0.5)
fishing_z_axis_deploy(False)
rospy.sleep(0.5)
if TEAM == Team.GREEN:
move_base_override.move(-0.10, duration=2.0)
else:
move_base_override.move(0.10, duration=2.0)
rospy.loginfo("Holding fishing module")
return Transitions.SUCCESS
def execute(self, userdata):
move_base_override.move_speed(0.1, duration=2.0)
rospy.sleep(0.3)
reset_pose.reset(robot_pose.position.x, 0.08, radians(-90))
rospy.sleep(0.2) # wait for reset pose
move_base_override.move(-0.03, duration=1.0)
goal = MoveBaseGoal()
goal.target_pose.header.frame_id = 'odom'
goal.target_pose.header.stamp = rospy.get_rostime()
goal.target_pose.pose = robot_pose
goal.target_pose.pose.orientation = Quaternion(
*quaternion_from_euler(0, 0, radians(-180)))
client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
client.wait_for_server()
client.send_goal(goal)
client.wait_for_result()
if TEAM == Team.GREEN:
move_base_override.move(0.05, duration=1.0)
else:
move_base_override.move(-0.05, duration=1.0)
return Transitions.SUCCESS
def execute(self, userdata):
move_base_override.move_speed(0.1, duration=2.0)
rospy.sleep(0.3)
reset_pose.reset(robot_pose.position.x, 0.08, radians(-90))
rospy.sleep(0.2) # wait for reset pose
move_base_override.move(-0.03, duration=1.0)
goal = MoveBaseGoal()
goal.target_pose.header.frame_id = 'odom'
goal.target_pose.header.stamp = rospy.get_rostime()
goal.target_pose.pose = robot_pose
goal.target_pose.pose.orientation = Quaternion(*quaternion_from_euler(0, 0, radians(-180)))
client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
client.wait_for_server()
client.send_goal(goal)
client.wait_for_result()
if TEAM == Team.GREEN:
move_base_override.move(0.05, duration=1.0)
else:
move_base_override.move(-0.05, duration=1.0)
return Transitions.SUCCESS
