def __init__(self, robot_id, top_speed, angular_top_speed, x_offset, y_offset, theta_offset): Robot.__init__(self, robot_id, top_speed, angular_top_speed, x_offset, y_offset, theta_offset) #define max/min coordinates for orchard space boundaries = locations.get_orchard_boundaries() self.maxX = boundaries["max_x"] self.maxY = boundaries["max_y"] self.minX = boundaries["min_x"] self.minY = boundaries["min_y"] self.has_bin = False self.type = type(self).__name__ # Unique variables for picker robots # self.picker_dict = dict() self.current_bin_x = 0 self.current_bin_y = 0 self.fruit_count = 0 self.has_finished = False empty_response_pub = rospy.Publisher('empty_response_topic', empty_response, queue_size=10) def callback(data): """Execute method in response to "bin_status" message.""" if data.is_empty: # Data used to calculate if it's the closest to the bin rospy.loginfo("Bin call: " + data.bin_id + " %.1f %.1f" % (data.x, data.y)) self.current_bin_x = data.x self.current_bin_y = data.y # rospy.loginfo(len(self.picker_dict)) if self.is_closest() and not self.has_bin: # and not self.slave and not data.is_carried: self.has_finished = False current_bin = robot_storage.getRobotWithId(data.bin_id) if current_bin.designated_picker == None: self.has_bin = True self.add_action(NavigateAction(self.current_bin_x, self.current_bin_y)) rospy.loginfo("P Robot: " + self.robot_id + " " + "Bin closest: " + data.bin_id) msg = empty_response() msg.robot_id = self.robot_id msg.bin_id = data.bin_id rospy.loginfo(self.robot_id + msg.robot_id + msg.bin_id + data.bin_id) empty_response_pub.publish(msg) rospy.loginfo("??????????????????////???????????????????") def initiate_picking(data): if data.robot_id == self.robot_id: pickerx = robot_storage.getRobotWithId(data.robot_id) self.x_start = self.position['x'] self.y_start = self.position['y'] self.add_action(NavigatePickAction(pickerx.position["x"], self.maxY + 5)) rospy.Subscriber("bin_status_topic", bin_status, callback) # rospy.Subscriber("statuses", robot_status, picker_locations) rospy.Subscriber("latched_to_picker", empty_response, initiate_picking)
def setUp(self): rospy.init_node('test_person') self.person = Person('robot_0', 2, 0.5, 0, 0, 0) self.boundaries = locations.get_orchard_boundaries()
def __init__(self, robot_id, top_speed, angular_top_speed, x_offset, y_offset, theta_offset): Robot.__init__(self, robot_id, top_speed, angular_top_speed, x_offset, y_offset, theta_offset) #define max/min coordinates for orchard space boundaries = locations.get_orchard_boundaries() self.maxX = boundaries["max_x"] self.maxY = boundaries["max_y"] self.minX = boundaries["min_x"] self.minY = boundaries["min_y"] self.has_bin = False self.type = type(self).__name__ # Unique variables for picker robots # self.picker_dict = dict() self.current_bin_x = 0 self.current_bin_y = 0 self.fruit_count = 0 self.has_finished = False empty_response_pub = rospy.Publisher('empty_response_topic', empty_response, queue_size=10) def callback(data): """Execute method in response to "bin_status" message.""" if data.is_empty: # Data used to calculate if it's the closest to the bin rospy.loginfo("Bin call: " + data.bin_id + " %.1f %.1f" % (data.x, data.y)) self.current_bin_x = data.x self.current_bin_y = data.y # rospy.loginfo(len(self.picker_dict)) if self.is_closest( ) and not self.has_bin: # and not self.slave and not data.is_carried: self.has_finished = False current_bin = robot_storage.getRobotWithId(data.bin_id) if current_bin.designated_picker == None: self.has_bin = True self.add_action( NavigateAction(self.current_bin_x, self.current_bin_y)) rospy.loginfo("P Robot: " + self.robot_id + " " + "Bin closest: " + data.bin_id) msg = empty_response() msg.robot_id = self.robot_id msg.bin_id = data.bin_id rospy.loginfo(self.robot_id + msg.robot_id + msg.bin_id + data.bin_id) empty_response_pub.publish(msg) rospy.loginfo( "??????????????????////???????????????????") def initiate_picking(data): if data.robot_id == self.robot_id: pickerx = robot_storage.getRobotWithId(data.robot_id) self.x_start = self.position['x'] self.y_start = self.position['y'] self.add_action( NavigatePickAction(pickerx.position["x"], self.maxY + 5)) rospy.Subscriber("bin_status_topic", bin_status, callback) # rospy.Subscriber("statuses", robot_status, picker_locations) rospy.Subscriber("latched_to_picker", empty_response, initiate_picking)