def main(): dev = start_accessory_mode() received_data = wait_for_command(dev) print("KOBUKI MOVE!!") rospy.init_node('test_motionforward') cmdvel_topic = '/mobile_base/commands/velocity' odom_topic = '/odom' cliff_topic = '/mobile_base/events/cliff' length_cali = 16.470 calibration = length_cali/received_data[0][0] for i in range(0,len(received_data)): travel = TravelForward(cmdvel_topic,odom_topic, cliff_topic) travel.init(0.4, received_data[i][0]*calibration,-received_data[i][1]) rospy.loginfo("Start to move forward") travel.execute() travel.stop() rospy.loginfo("Stop")
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from motion_travel_forward import TravelForward import rospy import receive_data # Robot moves forward if __name__ == '__main__': rospy.init_node('test_motionforward') # cmdvel_topic = '/mobile_base/commands/velocity' odom_topic = '/odom' cliff_topic = '/mobile_base/events/cliff' ref = 0.5 cali = ref/receive_data.received_data()[0][0] for i in range(0,len(receive_data.received_data())): travel = TravelForward(cmdvel_topic,odom_topic, cliff_topic) travel.init(0.4, receive_data.received_data()[i][0]*ref, receive_data.received_data()[i][1]) rospy.loginfo("Start to move forward") travel.execute() travel.stop() rospy.loginfo("Stop")