def __init__(self, name):
self._action_name = name
self._server = actionlib.SimpleActionServer(
self._action_name,
ow_lander.msg.GuardedMoveAction,
execute_cb=self.on_guarded_move_action,
auto_start=False)
self._server.start()
# Action Feedback/Result
self._fdbk = ow_lander.msg.GuardedMoveFeedback()
self._result = ow_lander.msg.GuardedMoveResult()
self._current_link_state = LinkStateSubscriber()
self._interface = MoveItInterface()
self._timeout = 0.0
self._estimated_plan_fraction_completed = 0.0
# ratio between guarded pre-guarded move trajectory and the whole trajectory
self._guarded_move_plan_ratio = 0.0
self.trajectory_async_executer = TrajectoryAsyncExecuter()
self.trajectory_async_executer.connect("arm_controller")
self.guarded_move_traj = RobotTrajectory()
self.ground_detector = GroundDetector()
self.pos = Point()
self.guarded_move_pub = rospy.Publisher('/guarded_move_result',
GuardedMoveFinalResult,
queue_size=10)
def __init__(self, name):
self._action_name = name
self._server = actionlib.SimpleActionServer(
self._action_name,
ow_lander.msg.UnstowAction,
execute_cb=self.on_unstow_action,
auto_start=False)
self._server.start()
# Action Feedback/Result
self._fdbk = ow_lander.msg.UnstowFeedback()
self._result = ow_lander.msg.UnstowResult()
self._current_link_state = LinkStateSubscriber()
self._interface = MoveItInterface()
self._timeout = 0.0
self.trajectory_async_executer = TrajectoryAsyncExecuter()
self.trajectory_async_executer.connect("arm_controller")