def start(self, loca, locb):
self.cancelled = False
goal = MoveBaseActionGoal()
goal.goal.target_pose.pose = interface.get_instance('location', locb, Pose._type)[0]
goal.goal.target_pose.header.frame_id = "map"
print goal.goal.target_pose.pose
self.client.send_goal(goal.goal)
Thread(target=self.bkgd).start()
def delivermessage(msg, loc):
print "started %s" % msg
try:
filename = plans.get_instance('message', msg, String)[0].data
except Exception as e:
print e
print "got instance" + str(filename)
try:
res = play(filename)
except Exception as e:
print e
print res
if not res:
print "file not found %s" % filename
raise Exception
plans.add_predicate('hasdeliveredmessage', x=msg, y=loc)
