def as_MoveGoal(self, move_type=MoveGoal.DRIVE, **kwargs):
if 'focus' in kwargs:
if not isinstance(kwargs['focus'], Point):
kwargs['focus'] = mil_tools.numpy_to_point(kwargs['focus'])
if 'speed_factor' in kwargs and isinstance(kwargs['speed_factor'],
float):
# User wants a uniform speed factor
sf = kwargs['speed_factor']
kwargs['speed_factor'] = [sf, sf, sf]
for key in kwargs.keys():
if not hasattr(MoveGoal, key):
fprint(
"MoveGoal msg doesn't have a field called '{}' you tried to set via kwargs."
.format(key),
title="POSE_EDITOR",
msg_color="red")
del kwargs[key]
return MoveGoal(goal=self.as_Pose(), move_type=move_type, **kwargs)
def hold(self):
goal = MoveGoal(move_type='hold')
return self._moveto_client.send_goal(goal)
def raised(self, alarm):
rospy.loginfo("Attempting to station hold")
station_hold_goal = MoveGoal()
station_hold_goal.move_type = 'hold'
self.move_client.send_goal(station_hold_goal, done_cb=self._client_cb)
def raised(self, alarm):
rospy.loginfo("Attempting to station hold")
station_hold_goal = MoveGoal()
station_hold_goal.move_type = 'hold'
self.move_client.send_goal(station_hold_goal, done_cb=self._client_cb)