def handle_dig(self, x, y, z):
msg = mine_block_msg()
msg.x = x
msg.y = y
msg.z = z
msg.status = constants.DIG_START
msg.face = constants.FACE_Y_POS
self.pub_dig.publish(msg)
rospy.sleep(8)
return True
m_pub = rospy.Publisher('mine_block_data', mine_block_msg, queue_size=1)
p_pub = rospy.Publisher('place_block_data', place_block_msg, queue_size=1)
rospy.init_node('mine_and_place_sender')
print("mine_and_place sender node initialized")
positions = [
(-27, 13, -40),
(-27, 13, -41),
(-27, 13, -42)]
while not rospy.is_shutdown():
message_mine = mine_block_msg()
message_place = place_block_msg()
for coords in positions:
message_mine.status = 0
message_mine.face = 1
message_mine.x = coords[0]
message_mine.y = coords[1]
message_mine.z = coords[2]
m_pub.publish(message_mine)
print ("sent command mine_block at: %2f, %2f, %2f") %(message_mine.x, message_mine.y, message_mine.z)
rospy.sleep(8.)
