def cbSrvSaveCalibration(self, req): self.saveCalibration() return EmptyResponse()
def service_callback(request): print "Robot Pose:" print robot_pose return EmptyResponse( ) # the service Response class, in this case EmptyResponse
def roll(self, req): # self.setGoal(0., 0., .5) self.state = 'roll' self.identservice['roll']() return EmptyResponse()
def __set_status_completed(request): CodeStatus.set_current_status(CodeStatus.COMPLETED) return EmptyResponse()
def set_initial_state_service(self, req): self.set_initial_state() return EmptyResponse()
def disable_face_detector(req): face_detector.finalize() return EmptyResponse()
def _empty_cb(self, req): rospy.loginfo('{} | Empty service called'.format(self._name)) return EmptyResponse()
def restart(req): global restart restart = True return EmptyResponse()
def _empty_cb(self, req): rospy.loginfo('Empty service called') return EmptyResponse()
def disable(self, req): self.enabled = False return EmptyResponse()
def use_hand_camera_cb(self, req): print("eee") self.flag = True return EmptyResponse()
def enable(self, req): self.enabled = True return EmptyResponse()
def start_catching_service(self, srv): self.active = True self.catch_target_balloon() return EmptyResponse()
def my_callback(request): print "My_callback has been called" return EmptyResponse( ) # the service Response class, in this case EmptyResponse
def enable_hand_detector(req): hand_detector.initialize(stage=stage) return EmptyResponse()
def cbSrvLeft(self,req): self.trigger(0) return EmptyResponse()
def disable_people_detector(req): pose_detector.finalize() return EmptyResponse()
def cbSrvForward(self,req): self.trigger(1) return EmptyResponse()
def disable_hand_detector(req): hand_detector.finalize() return EmptyResponse()
def cbSrvRight(self,req): self.trigger(2) return EmptyResponse()
def callback_update_params(self, req): with self.param_lock: self.initParameters() self.rospy.loginfo("[%s] Parameter update after request", self.name) return EmptyResponse()
def cancelCB(req): global g_triangle_point_state rospy.loginfo("canceled") g_triangle_point_state.reset() return EmptyResponse()
'robostilt_state/set_inital_state', Empty, self.set_initial_state_service) self.rate=rospy.Rate(50) self.actuators=actuators_state.actuators_state() orientation_q=msg.quaternion # Calculate euler angles orientation_list=[orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] (self.roll_x, self.pitch_y, self.yaw_z)=tf.transformations.euler_from_quaternion(orientation_list) # rospy.loginfo(self.roll_x) # Calculate euler angles orientation_list=[orientation_q.x, # service req is empty for i in range(0, C.ACTUATOR.count): self.actuators.actuator[i].motor.stop() return EmptyResponse() def raise_frame_while_leveling(self, position): # move lonely leg normally, leg_2 or leg_5. Move other legs to their max displacement, will abort once lonely leg reaches goal frame=C.FRAME.EVEN f.print_ros("Raising frame " + frame.name + " to position " + str(position) + " ...") indexes=frame.actuatorIndexes speed=0.1 level_thereshold=0.0174533 for i in indexes: speed=0.1 level_thereshold=0.0174533 if(frame.name == C.FRAME.EVEN.name): lonely_leg=2
def goCB(req): global g_triangle_point_state rospy.loginfo("go") g_triangle_point_state.publishTriangles() return EmptyResponse()
def _handle_reload_request(self, req): rospy.loginfo("Reloading capabilities...") self.__load_capabilities() return EmptyResponse()
def enable_people_detector(req): pose_detector.initialize(stage=stage) return EmptyResponse()
def thrust(self, req): # self.setGoal(0., 0., .5) self.state = 'thrust' self.identservice['thrust']() return EmptyResponse()
def enable_face_detector(req): face_detector.initialize(stage=stage) return EmptyResponse()
def pitch(self, req): # self.setGoal(0., 0., .5) self.state = 'pitch' self.identservice['pitch']() return EmptyResponse()
def _stop_random_walk(self, req): self._running = False self._action.cancle_action() return EmptyResponse()