def __init__(self):
self.waypoint_x = []
self.waypoint_y = []
self.waypoint_seq = []
self.waypoint_total_seq = 0
self.x = 0
self.y = 0
self.q = np.empty(4)
self.yaw = np.pi / 2
self.pre_steering_ang = 0
self.mission_start = False
rospy.init_node('look_ahead_following')
rospy.on_shutdown(self.shutdown)
# ROS callback function, receive /odom mesage
rospy.Subscriber('/gnss_odom',
Odometry,
self.odom_callback,
queue_size=1)
#rospy.Subscriber('/gazebo/model_states', ModelStates, self.truth_callback)
rospy.Subscriber('/mav/mission', MAV_Mission, self.load_waypoint)
rospy.Subscriber('/mav/modes', MAV_Modes, self.mav_modes)
self.ajk_pub = rospy.Publisher('/ajk_auto', AJK_value, queue_size=1)
self.ajk_value = AJK_value()
self.auto_log_pub = rospy.Publisher('/auto_log',
Auto_Log,
queue_size=1)
self.auto_log = Auto_Log()
self.cmdvel_pub = rospy.Publisher(
'/sim_ajk/diff_drive_controller/cmd_vel', Twist, queue_size=1)
self.cmdvel = Twist()
def __init__(self):
self.waypoint_x = []
self.waypoint_y = []
self.last_waypoint_x = 0
self.last_waypoint_y = 0
self.waypoint_seq = []
self.waypoint_total_seq = 0
self.x = 0
self.y = 0
self.q = np.empty(4)
self.yaw = np.pi / 2
self.pre_steering_ang = 0
self.bool_start_point = True
# mav_modes
self.mission_start = False
self.base_mode = 0
self.custom_mode = 0
# related to GNSS
self.iTOW = 0
self.rtk_status = 0
self.movingbase_status = 0
self.latitude = 0
self.longitude = 0
rospy.init_node('look_ahead_following')
rospy.on_shutdown(self.shutdown)
# ROS callback function, receive /odom mesage
rospy.Subscriber('/gnss_odom',
Odometry,
self.odom_callback,
queue_size=1)
#rospy.Subscriber('/gazebo/model_states', ModelStates, self.truth_callback)
rospy.Subscriber('/mav/mission', MAV_Mission, self.load_waypoint)
rospy.Subscriber('/mav/modes', MAV_Modes, self.mav_modes)
rospy.Subscriber('/navpvt', NavPVT, self.navpvt_callback, queue_size=1)
rospy.Subscriber('/relposned',
RELPOSNED,
self.relposned_callback,
queue_size=1)
self.ajk_pub = rospy.Publisher('/ajk_auto', AJK_value, queue_size=1)
self.ajk_value = AJK_value()
self.auto_log_pub = rospy.Publisher('/auto_log',
Auto_Log,
queue_size=1)
self.auto_log = Auto_Log()
self.cmdvel_pub = rospy.Publisher('/roboteq_driver/cmd',
Twist,
queue_size=1)
self.sim_cmdvel_pub = rospy.Publisher(
'/sim_ajk/diff_drive_controller/cmd_vel', Twist, queue_size=1)
self.cmdvel = Twist()
def __init__(self):
self.waypoint_x = []
self.waypoint_y = []
self.waypoint_goal = []
self.x = 0
self.y = 0
self.q = np.empty(4)
self.yaw = np.pi / 2
self.pre_steering_ang = 0
rospy.init_node('look_ahead_following')
rospy.on_shutdown(self.shutdown)
# ROS callback function, receive /odom mesage
#rospy.Subscriber('/gnss_odom', Odometry, self.odom_callback, queue_size = 1)
rospy.Subscriber('/gazebo/model_states', ModelStates,
self.truth_callback)
self.ajk_pub = rospy.Publisher('/ajk_auto', AJK_value, queue_size=1)
self.ajk_value = AJK_value()
self.auto_log_pub = rospy.Publisher('/auto_log',
Auto_Log,
queue_size=1)
self.auto_log = Auto_Log()