ugv.GoTo(goal_x=p[0],goal_y=p[1],max_velocity=maxVel) ugv.Wait(duration=1.0) if (i < 4): i+=1 else: i=0 except TaskConditionException, e: if ugv.isCompleted(w4takeOffReq): rospy.loginfo("Mission suspended - Take-Off Requested !") ugv.WaitingForTakeOff() if ugv.isCompleted(w4landingReq): rospy.loginfo("Mission suspended - Landing Requested !") ugv.WaitingForLanding() if ugv.isCompleted(w4interruption): rospy.loginfo("Mission suspended - Interruption Requested !") ugv.OrderLandingBack() ugv.WaitForLandingRequest() ugv.WaitingForLanding() ugv.WaitingForRecovery() ugv.OrderTakeOff() ugv.WaitForTakeOffRequest() ugv.WaitingForTakeOff() except TaskException, e: rospy.logerr("Exception caught: " + str(e)) if not rospy.core.is_shutdown(): ugv.SetManual()