def SetHeadFocus(self,pos,speed): msg = Target() msg.x = pos.x msg.y = pos.y msg.z = pos.z msg.speed = speed self.head_focus_pub.publish(msg)
def SetGazeFocus(self,pos,speed): msg = Target() msg.x = pos.x msg.y = pos.y msg.z = pos.z msg.speed = speed self.gaze_focus_pub.publish(msg)
def SetHeadFocus(self, pos): # publish head focus message msg = Target() msg.x = pos.x msg.y = pos.y msg.z = pos.z msg.speed = 5.0 self.head_focus_pub.publish(msg)
def face_toward_point(self, x, y, z, speed): """ Turn the robot's face towards the given target point. :param float x: metres forward :param float y: metres to robots left :param float z: :param float speed: :return: None """ msg = Target() msg.x = x msg.y = y msg.z = z msg.speed = speed self.face_target_pub.publish(msg) rospy.logdebug("published face_(x={}, y={}, z={}, speed={})".format( x, y, z, speed))