def __init__(self):
# Debugging purposes
self.print_velocities = rospy.get_param('print_velocities')
# Where and when should you use this?
self.stop_robot = False
# Create the needed objects
self.sonar_aggregation = SonarDataAggregator()
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
self.linear_velocity = 0
self.angular_velocity = 0
self.previous_turn_dir = None
# Check if the robot moves with target or just wanders
self.move_with_target = rospy.get_param("calculate_target")
# The timer produces events for sending the speeds every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
self.velocity_publisher = rospy.Publisher(
rospy.get_param('speeds_pub_topic'), Twist, queue_size=10)
# Obstacle Avoidance state
self.obstacle_avoidance__active = False
self.obstacle_avoidance__remaining_steps = 20
def __init__(self):
# Debugging purposes
self.print_velocities = rospy.get_param('print_velocities')
# Where and when should you use this?
self.stop_robot = False
# Create the needed objects
self.sonar_aggregation = SonarDataAggregator()
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
self.linear_velocity = 0
self.angular_velocity = 0
# Check if the robot moves with target or just wanders
self.move_with_target = rospy.get_param("calculate_target")
# The timer produces events for sending the speeds every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
self.velocity_publisher = rospy.Publisher(\
rospy.get_param('speeds_pub_topic'), Twist,\
queue_size = 10)
# Read the velocities architecture
self.velocity_arch = rospy.get_param("velocities_architecture")
print "The selected velocities architecture is " + self.velocity_arch
def __init__(self):
self.print_velocities = rospy.get_param('print_velocities') # For Printing Velocity Calculated
self.debug = rospy.get_param('debug') # For Debugging
self.move_with_target = rospy.get_param("calculate_target") # Robot moves with target or just wanders
self.initial_turn = rospy.get_param('initial_turn') # Perform a 360 turn when starting
# Where and when should you use this?
self.stop_robot = False
self.sonar_on = False
# Create the needed Objects
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
if self.sonar_on:
self.sonar_aggregation = SonarDataAggregator() # Enable this if Robot has Sonar!
# Speed Parameters for Turtlebot
self.linear_velocity = 0
self.angular_velocity = 0
self.low_turn_limit = 4.2
self.max_linear_velocity = rospy.get_param('max_linear_speed')
self.max_angular_velocity = rospy.get_param('max_angular_speed')
# The Timer Produces Events for Sending Speeds Every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
# The Turtlebot Speed Publisher Topic
self.velocity_publisher = rospy.Publisher(rospy.get_param('turtlebot_speeds_topic'),
Twist, queue_size = 10)
def __init__(self, selection_method):
self.goals_position = []
self.goals_value = []
self.omega = 0.0
self.radius = 0
self.method = selection_method
self.previous_target = []
self.brush = Brushfires()
self.topo = Topology()
self.path_planning = PathPlanning()
self.previous_target.append(50)
self.previous_target.append(50)
self.node2_index_x = 0
self.node2_index_y = 0
self.sonar = SonarDataAggregator()
self.timeout_happened = 0
