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)