def __init__(self):
mission_counter = 0
counter = 0
time_per_move = 40
self.roll = 0
self.pitch = 0
self.yaw = 0
self.X = 0
self.Y = 0
self.Z = 0
self.orientation = rospy.Publisher("/rpy", rpy, queue_size = 1)
self.position = rospy.Publisher("/move_rov", move, queue_size = 1)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if mission_counter == 0 and self.yaw < math.pi:
self.yaw += 0.01745
self.Z = -1.0
counter += 1
if self.yaw >= math.pi:
self.yaw = -math.pi
mission_counter = 1
elif mission_counter == 1 and self.yaw < 0:
self.yaw += 0.01745
if self.yaw >= 0.0:
mission_counter = 2
rospy.signal_shutdown("mission complete")
o = rpy() #Roll pitch Yaw (orientation)
p = move() #positional movement
o.header.stamp = rospy.Time.now()
o.header.frame_id = 'desired_orientation' # i.e. '/odom'
o.Roll = self.roll
o.Pitch = self.pitch
o.Yaw = self.yaw
p.header.stamp = rospy.Time.now()
p.header.frame_id = 'desired_position' # i.e. '/odom'
p.X = self.X
p.Y = self.Y
p.Z = self.Z
self.orientation.publish(o)
self.position.publish(p)
rate.sleep()
def __init__(self):
mission_counter = 0
counter = 0
time_per_move = 40
self.roll = 0
self.pitch = 0
self.yaw = 0
self.X = 0
self.Y = 0
self.Z = 0
self.orientation = rospy.Publisher("/rpy", rpy, queue_size=1)
self.position = rospy.Publisher("/move_rov", move, queue_size=1)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if mission_counter == 0 and self.yaw < math.pi:
self.yaw += 0.01745
self.Z = -1.0
counter += 1
if self.yaw >= math.pi:
self.yaw = -math.pi
mission_counter = 1
elif mission_counter == 1 and self.yaw < 0:
self.yaw += 0.01745
if self.yaw >= 0.0:
mission_counter = 2
rospy.signal_shutdown("mission complete")
o = rpy() #Roll pitch Yaw (orientation)
p = move() #positional movement
o.header.stamp = rospy.Time.now()
o.header.frame_id = 'desired_orientation' # i.e. '/odom'
o.Roll = self.roll
o.Pitch = self.pitch
o.Yaw = self.yaw
p.header.stamp = rospy.Time.now()
p.header.frame_id = 'desired_position' # i.e. '/odom'
p.X = self.X
p.Y = self.Y
p.Z = self.Z
self.orientation.publish(o)
self.position.publish(p)
rate.sleep()
def __init__(self):
mission_counter = 0
counter = 0
time_per_move = 1000
desired_depth = 2
self.roll = 0
self.pitch = 0
self.yaw = 0
self.X = 0
self.Y = 0
self.Z = 0
self.orientation = rospy.Publisher("/rpy", rpy, queue_size = 1)
self.position = rospy.Publisher("/move_rov", move, queue_size = 1)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if mission_counter == 0 and counter < time_per_move:
self.X = 2.0
self.Z = desired_depth
counter += 1
if counter > time_per_move-1:
counter = 0
mission_counter = 1
elif mission_counter == 1 and counter < time_per_move:
self.X = 0.0
self.Y = -2.0
counter += 1
if counter > time_per_move-1:
counter = 0
mission_counter = 2
elif mission_counter == 2 and counter < time_per_move:
self.Y = 0.0
counter += 1
if counter > time_per_move-1:
counter = 0
mission_counter = 3
rospy.signal_shutdown("mission complete")
o = rpy()
p = move()
o.header.stamp = rospy.Time.now()
o.header.frame_id = 'desired_orientation' # i.e. '/odom'
o.Roll = self.roll
o.Pitch = self.pitch
o.Yaw = self.yaw
p.header.stamp = rospy.Time.now()
p.header.frame_id = 'desired_position' # i.e. '/odom'
p.X = self.X
p.Y = self.Y
p.Z = self.Z
self.orientation.publish(o)
self.position.publish(p)
rate.sleep()