Esempi in Python per EllipsoidMoveGoal

Esempio n. 1

File: sm_shaving.py Progetto: rgleichman/berkeley_demos

 def goal_cb(userdata, goal_in):
     goal = EllipsoidMoveGoal()
     goal.change_height = userdata.goal_pose[0][2]
     goal.absolute_height = True
     goal.gripper_rot = gripper_rot
     goal.duration = duration
     return goal

Esempio n. 2

File: sm_shaving.py Progetto: rgleichman/berkeley_demos

 def get_ell_move_height(height, duration, gripper_rot):
     goal = EllipsoidMoveGoal()
     goal.change_height = height
     goal.absolute_height = True
     goal.gripper_rot = gripper_rot
     goal.duration = duration
     return smach_ros.SimpleActionState('ellipsoid_move', EllipsoidMoveAction, goal=goal)

Esempio n. 3

File: sm_ellipsoid_control_states.py Progetto: rgleichman/berkeley_demos

 def goal_cb(userdata, goal_in):
     goal = EllipsoidMoveGoal()
     lat, lon, height = userdata.goal_pose[0]
     goal.change_latitude = lat
     goal.change_longitude = lon
     goal.change_height = retreat_height
     goal.gripper_rot = gripper_rot
     goal.absolute_latitude = True
     goal.absolute_longitude = True
     goal.absolute_height = True
     goal.duration = duration
     return goal

Esempio n. 4

File: sm_shaving.py Progetto: rgleichman/berkeley_demos

 def goal_cb(userdata, goal_in):
     goal = EllipsoidMoveGoal()
     lat, lon, height = userdata.goal_pose[0]
     goal.change_latitude = lat
     goal.change_longitude = lon
     goal.change_height = retreat_height
     goal.gripper_rot = gripper_rot
     goal.absolute_latitude = True
     goal.absolute_longitude = True
     goal.absolute_height = True
     goal.duration = duration
     return goal

Esempio n. 5

File: sm_ellipsoid_control_states.py Progetto: rgleichman/berkeley_demos

def get_ell_move_local(delta_lat, delta_lon, delta_hei, gripper_rot):
    goal = EllipsoidMoveGoal()
    goal.change_latitude = delta_lat
    goal.change_longitude = delta_lon
    goal.change_height = delta_hei
    goal.gripper_rot = gripper_rot
    goal.duration = LOCAL_DURATION
    return smach_ros.SimpleActionState('ellipsoid_move',
                                       EllipsoidMoveAction,
                                       goal=goal)

Esempio n. 6

File: sm_ellipsoid_control_states.py Progetto: rgleichman/berkeley_demos

 def goal_cb(userdata, goal_in):
     goal = EllipsoidMoveGoal()
     goal.change_height = userdata.goal_pose[0][2]
     goal.absolute_height = True
     goal.gripper_rot = gripper_rot
     goal.duration = duration
     return goal

Esempio n. 7

File: sm_shaving.py Progetto: rgleichman/berkeley_demos

 def get_ell_move_local(delta_lat, delta_lon, delta_hei, gripper_rot):
     goal = EllipsoidMoveGoal()
     goal.change_latitude = delta_lat
     goal.change_longitude = delta_lon
     goal.change_height = delta_hei
     goal.gripper_rot = gripper_rot
     goal.duration = LOCAL_DURATION
     return smach_ros.SimpleActionState('ellipsoid_move', EllipsoidMoveAction, goal=goal)

Esempio n. 8

File: sm_ellipsoid_control_states.py Progetto: rgleichman/berkeley_demos

def get_ell_move_height(height, duration, gripper_rot):
    goal = EllipsoidMoveGoal()
    goal.change_height = height
    goal.absolute_height = True
    goal.gripper_rot = gripper_rot
    goal.duration = duration
    return smach_ros.SimpleActionState('ellipsoid_move',
                                       EllipsoidMoveAction,
                                       goal=goal)