def full_obj_rec_test(u):
coords = test_forward_until_scanned_both(u)
if coords[1]:
rospy.loginfo("precached sample detected")
nav.turn_to_sample(u, coords, True)
nav.move_til_sample(u, True)
test_pickup_precached(u)
else:
rospy.loginfo("easy sample detected")
nav.turn_to_sample(u, coords, False)
nav.move_til_sample(u, False)
test_pickup_easy(u)
def full_obj_rec_test(u):
coords = test_forward_until_scanned_both(u)
if coords[1]:
rospy.loginfo("precached sample detected")
nav.turn_to_sample(u, coords, True)
nav.move_til_sample(u, True)
test_pickup_precached(u)
else:
rospy.loginfo("easy sample detected")
nav.turn_to_sample(u, coords, False)
nav.move_til_sample(u, False)
test_pickup_easy(u)
def test_scan_and_grab_easy(u):
# move forward until scan cam sees sample
coords = test_forward_until_scanned(u, False)
# turn so that the sample is in front of the rover
nav.turn_to_sample(u, coords, False)
# move forward until the sample is seen by the pit cam, and park over it
nav.move_til_sample(u, False)
# pick up sample
test_pickup_easy(u)
def test_scan_and_grab_easy(u):
# move forward until scan cam sees sample
coords = test_forward_until_scanned(u, False)
# turn so that the sample is in front of the rover
nav.turn_to_sample(u, coords, False)
# move forward until the sample is seen by the pit cam, and park over it
nav.move_til_sample(u, False)
# pick up sample
test_pickup_easy(u)
def test_scan_and_grab_precached(u):
coords = test_forward_until_scanned(u, True)
nav.turn_to_sample(u, coords, True)
nav.move_til_sample(u, True)
test_pickup_precached(u)
def test_scan_and_grab_precached(u):
coords = test_forward_until_scanned(u, True)
nav.turn_to_sample(u, coords, True)
nav.move_til_sample(u, True)
test_pickup_precached(u)