def __init__(self, pose, frame, usability): if frame != '/map' and frame != 'map': if MoveToPoseGoal.tl is None: MoveToPoseGoal.tl = tf.TransformListener() rospy.sleep(1) pose_stamped = PoseStamped() pose_stamped.header.frame_id = frame pose_stamped.pose = pose #tf.Transformer().waitForTransform('/map', frame) pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose('/map', pose_stamped) pose = pose_stmpd_in_map.pose Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)], usability)
def __init__(self, pose, frame, usability): if frame != '/map' and frame != 'map': if MoveToPoseGoal.tl is None: MoveToPoseGoal.tl = tf.TransformListener() rospy.sleep(1) pose_stamped = PoseStamped() pose_stamped.header.frame_id = frame pose_stamped.pose = pose #tf.Transformer().waitForTransform('/map', frame) pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose( '/map', pose_stamped) pose = pose_stmpd_in_map.pose Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)], usability)
def __init__(self): Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)