Esempio n. 1
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 def __init__(self, handle):
     '''
     input_keys=[]
     outcomes = ['succeeded', 'failed', 'preempted', 'error']
     '''
     TaskBase.__init__(self, handle)
     self.initial_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped)
Esempio n. 2
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 def __init__(self, handle):
     '''
     input_keys=[]
     outcomes = ['succeeded', 'failed', 'preempted', 'error']
     '''
     TaskBase.__init__(self, handle)
     self.cmd_vel_pub = rospy.Publisher("/cmd_vel_mux/input/teleop", Twist)
     self.motors_pub = rospy.Publisher("/mobile_base/commands/motor_power", MotorPower)
     rospy.loginfo("created cmd_vel publisher")
Esempio n. 3
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    def __init__(self, handle):
        '''
        input_keys=['frame_id', 'x', 'y', 'theta', 'collision_aware']
        outcomes = ['succeeded', 'failed', 'preempted', 'error']
        '''

        TaskBase.__init__(self, handle)
        move_base_uri = '/move_base'
        self.move_base_node_name = rospy.get_param('move_base_node_name', '/move_base_node')
        self.move_base_client = actionlib.SimpleActionClient(move_base_uri, mbm.MoveBaseAction)
        rospy.loginfo("waiting for move base server")
        self.move_base_client.wait_for_server()
        rospy.loginfo("move base server found")
Esempio n. 4
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 def __init__(self, handle):
     TaskBase.__init__(self, handle)
Esempio n. 5
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 def __init__(self, handle):
     '''
     input_keys=['text']
     outcomes = ['succeeded', 'failed', 'preempted', 'error']
     '''
     TaskBase.__init__(self, handle)