def execute(self, userdata):
"""DriveBackward state
Driving backwards for a given time.
"""
return_state = "locate"
Utils.drive(Twist(linear=Vector3(x = -userdata.in_drive_speed, y = 0.0 , z = 0.0)))
rospy.sleep(userdata.in_drive_time)
Utils.drive(Utils.STOP)
return return_state
def execute(self, userdata):
"""TurnRight state
Turning to the right for a given time.
"""
return_state = "locate"
Utils.drive(Twist(angular=Vector3(x = 0.0, y = 0.0 , z = -userdata.in_turn_speed)))
print "###Driving for:", userdata.in_drive_time
print "###Driving with:", userdata.in_turn_speed
rospy.sleep(userdata.in_drive_time)
Utils.drive(Utils.STOP)
return return_state
def execute(self, userdata):
"""DriveLeft state
Driving to the left for a given time.
"""
return_state = "locate"
Utils.drive(Twist(linear=Vector3(x = 0.0, y = userdata.in_drive_speed , z = 0.0)))
print "###Driving for:", userdata.in_drive_time
print "###Driving with:", userdata.in_turn_speed
rospy.sleep(userdata.in_drive_time)
Utils.drive(Utils.STOP)
return return_state
