def __init__(self, robot_id, top_speed, angular_top_speed, x_offset, y_offset, theta_offset):
Robot.__init__(self, robot_id, top_speed, angular_top_speed, x_offset, y_offset, theta_offset)
#define max/min coordinates for orchard space
boundaries = locations.get_orchard_boundaries()
self.maxX = boundaries["max_x"]
self.maxY = boundaries["max_y"]
self.minX = boundaries["min_x"]
self.minY = boundaries["min_y"]
self.has_bin = False
self.type = type(self).__name__
# Unique variables for picker robots
# self.picker_dict = dict()
self.current_bin_x = 0
self.current_bin_y = 0
self.fruit_count = 0
self.has_finished = False
empty_response_pub = rospy.Publisher('empty_response_topic', empty_response, queue_size=10)
def callback(data):
"""Execute method in response to "bin_status" message."""
if data.is_empty:
# Data used to calculate if it's the closest to the bin
rospy.loginfo("Bin call: " + data.bin_id + " %.1f %.1f" % (data.x, data.y))
self.current_bin_x = data.x
self.current_bin_y = data.y
# rospy.loginfo(len(self.picker_dict))
if self.is_closest() and not self.has_bin: # and not self.slave and not data.is_carried:
self.has_finished = False
current_bin = robot_storage.getRobotWithId(data.bin_id)
if current_bin.designated_picker == None:
self.has_bin = True
self.add_action(NavigateAction(self.current_bin_x, self.current_bin_y))
rospy.loginfo("P Robot: " + self.robot_id + " " + "Bin closest: " + data.bin_id)
msg = empty_response()
msg.robot_id = self.robot_id
msg.bin_id = data.bin_id
rospy.loginfo(self.robot_id + msg.robot_id + msg.bin_id + data.bin_id)
empty_response_pub.publish(msg)
rospy.loginfo("??????????????????////???????????????????")
def initiate_picking(data):
if data.robot_id == self.robot_id:
pickerx = robot_storage.getRobotWithId(data.robot_id)
self.x_start = self.position['x']
self.y_start = self.position['y']
self.add_action(NavigatePickAction(pickerx.position["x"], self.maxY + 5))
rospy.Subscriber("bin_status_topic", bin_status, callback)
# rospy.Subscriber("statuses", robot_status, picker_locations)
rospy.Subscriber("latched_to_picker", empty_response, initiate_picking)
def setUp(self):
rospy.init_node('test_person')
self.person = Person('robot_0', 2, 0.5, 0, 0, 0)
self.boundaries = locations.get_orchard_boundaries()
def setUp(self):
rospy.init_node('test_person')
self.person = Person('robot_0', 2, 0.5, 0, 0, 0)
self.boundaries = locations.get_orchard_boundaries()
def __init__(self, robot_id, top_speed, angular_top_speed, x_offset,
y_offset, theta_offset):
Robot.__init__(self, robot_id, top_speed, angular_top_speed, x_offset,
y_offset, theta_offset)
#define max/min coordinates for orchard space
boundaries = locations.get_orchard_boundaries()
self.maxX = boundaries["max_x"]
self.maxY = boundaries["max_y"]
self.minX = boundaries["min_x"]
self.minY = boundaries["min_y"]
self.has_bin = False
self.type = type(self).__name__
# Unique variables for picker robots
# self.picker_dict = dict()
self.current_bin_x = 0
self.current_bin_y = 0
self.fruit_count = 0
self.has_finished = False
empty_response_pub = rospy.Publisher('empty_response_topic',
empty_response,
queue_size=10)
def callback(data):
"""Execute method in response to "bin_status" message."""
if data.is_empty:
# Data used to calculate if it's the closest to the bin
rospy.loginfo("Bin call: " + data.bin_id + " %.1f %.1f" %
(data.x, data.y))
self.current_bin_x = data.x
self.current_bin_y = data.y
# rospy.loginfo(len(self.picker_dict))
if self.is_closest(
) and not self.has_bin: # and not self.slave and not data.is_carried:
self.has_finished = False
current_bin = robot_storage.getRobotWithId(data.bin_id)
if current_bin.designated_picker == None:
self.has_bin = True
self.add_action(
NavigateAction(self.current_bin_x,
self.current_bin_y))
rospy.loginfo("P Robot: " + self.robot_id + " " +
"Bin closest: " + data.bin_id)
msg = empty_response()
msg.robot_id = self.robot_id
msg.bin_id = data.bin_id
rospy.loginfo(self.robot_id + msg.robot_id +
msg.bin_id + data.bin_id)
empty_response_pub.publish(msg)
rospy.loginfo(
"??????????????????////???????????????????")
def initiate_picking(data):
if data.robot_id == self.robot_id:
pickerx = robot_storage.getRobotWithId(data.robot_id)
self.x_start = self.position['x']
self.y_start = self.position['y']
self.add_action(
NavigatePickAction(pickerx.position["x"], self.maxY + 5))
rospy.Subscriber("bin_status_topic", bin_status, callback)
# rospy.Subscriber("statuses", robot_status, picker_locations)
rospy.Subscriber("latched_to_picker", empty_response, initiate_picking)
