def __init__(self, name, wheelbase=0.352):
"""
:param name: <string> that will be the 'name'.log file and the name of the node created
:return: None
"""
""" SETUP::
1) will instantiate the base logging class and start the node
2) sets up all the publishers and subscribers
3) ...
"""
## Loggers and node information
rospy.init_node(name)
self.map = gMap(name+"Map")
self.local = localMap(name+'Local Map')
self._name_ = name
self._x_offset = None
self._y_offset = None
self._x, self._y = 0,0
## Pub/Sub information
self._vel_pub = rospy.Publisher('cmd_vel_mux/input/teleop', Twist, queue_size=1)
# self._mov_pub = rospy.Publisher('/move_base/goal',PoseStamped,queue_size=1)
self._odom_sub = rospy.Subscriber('/odom', Odometry, self.odomCallback, queue_size=3)
self._click_sub = rospy.Subscriber('/move_base_simple/goalRBE', PoseStamped, self.storeGoal, queue_size=1) # check out the self.map.storeGoal thing
self._local_cost = rospy.Subscriber('/move_base/local_costmap/costmap',OccupancyGrid,self.storeCostmap, queue_size=1)
# self._map_sub = rospy.Subscriber('/move_base/global_costmap/costmap_updates', OccupancyGridUpdate , self._updateMap, queue_size=1)
self._map_sub = rospy.Subscriber('/map', OccupancyGrid, self._updateMap, queue_size=1)
# self._bmp_sub = rospy.Subscriber('/mobile_base/events/bumper', BumperEvent, turtlebot.setBumper, queue_size=3)
#### Private variables that get updated by callbacks.
## Odom Handlers ##
self._odom_list = tf.TransformListener()
self._odom_tf = tf.TransformBroadcaster()
self._odom_tf.sendTransform((0, 0, 0),(0, 0, 0, 1),rospy.Time.now(),"base_footprint","odom")
## Map Handlers ##
self._map_list = tf.TransformListener()
## Goal Handlers ##
self._goal_list = tf.TransformListener()
#### Private robot Information
self._wheelbase = wheelbase
## After creation, wait 1 second in order to ensure that your
self.sleeper = rospy.Duration(1)
rospy.sleep(self.sleeper)
print '\n\n'
print "Robot Created"
print "Robot Created"
print "Robot Created"
print "Robot Created"
print '\n\n'
def __init__(self, name, wheelbase=0.352):
"""
:param name: <string> that will be the 'name'.log file and the name of the node created
:param wheelbase: <float> that will be the width of the robot
:return: None
"""
""" SETUP::
1) Will initialize ROS node under name passed
2) Will initialize subclass information
3) Will initialize localization variables
4) Will Create Publishers and Subscribers in the class
5) Will initialize specific robot variables
"""
# Loggers and node information
rospy.init_node(name)
# # Subclass Functions
self.map = gMap(name + "Map", "/GOAL")
self._name_ = name
# # Localization Variables
self.frontierX, self.frontierY = None, None
self._x_offset = None
self._y_offset = None
self._x, self._y = 0, 0
self._notDoneExploring = False
# # Pub/Sub information
self._drivePublisher = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=1)
self._cmdVelPub = rospy.Publisher('/cmd_vel_mux/input/teleop', Twist, queue_size=1)
self._baseResultSubscriber = rospy.Subscriber('/move_base/result', MoveBaseActionResult,self._storeMoveBaseResult, queue_size=1)
self._mapSubscriber = rospy.Subscriber('/map',OccupancyGrid, self._updateMap, queue_size=1)
# #### Private robot Information
self._wheelbase = wheelbase
self._startupSpinVel = 0.5
self._moveError = False
self._moving = False
self._failedList = []
self._recovery = 0
# # After creation and initialization, wait a second to ensure that we don't go too fast.
self.sleeper = rospy.Duration(1)
rospy.sleep(self.sleeper)
print '\n'
print "Robot Created"
print '\n'
