def blockCallback(self, data, args): blockInfo = self.parsePose(data) xv = burlap_value() xv.attribute = 'x' xv.value = str(blockInfo[0]) yv = burlap_value() yv.attribute = 'y' yv.value = str(blockInfo[1]) cv = burlap_value() cv.attribute = 'color' cv.value = 'yellow' sv = burlap_value() sv.attribute = 'shape' sv.value = 'chair' block = burlap_object() block.name = 'block' + str(args) block.object_class = 'block' block.values = [xv, yv, cv, sv] self.blocks[args] = block self.publishState()
def turtlesimCallback(self, data): x = int(math.floor(data.x)) y = int(math.floor(data.y)) normAngle = data.theta / (2.0 * math.pi) if normAngle < 0.0: normAngle = 1.0 + normAngle dir = "" if normAngle < 1.0 / 8.0 or normAngle >= 7.0 / 8.0: dir = "east" elif normAngle >= 1.0 / 8.0 and normAngle < 3.0 / 8.0: dir = "north" elif normAngle >= 3.0 / 8.0 and normAngle < 5.0 / 8.0: dir = "west" elif normAngle >= 5.0 / 8.0 and normAngle < 7.0 / 8.0: dir = "south" else: print "error in angle:", data.theta, normAngle xv = burlap_value() xv.attribute = "x" xv.value = str(x) yv = burlap_value() yv.attribute = "y" yv.value = str(y) dirv = burlap_value() dirv.attribute = "direction" dirv.value = dir agent = burlap_object() agent.name = "turtle" agent.object_class = "agent" agent.values = [xv, yv, dirv] self.agent = agent self.publishState()
def turtlesimCallback(self, data): x = int(math.floor(data.x)) y = int(math.floor(data.y)) normAngle = data.theta / (2. * math.pi) if normAngle < 0.: normAngle = 1. + normAngle dir = '' if normAngle < 1. / 8. or normAngle >= 7. / 8.: dir = 'east' elif normAngle >= 1. / 8. and normAngle < 3. / 8.: dir = 'north' elif normAngle >= 3. / 8. and normAngle < 5. / 8.: dir = 'west' elif normAngle >= 5. / 8. and normAngle < 7. / 8.: dir = 'south' else: print 'error in angle:', data.theta, normAngle xv = burlap_value() xv.attribute = 'x' xv.value = str(x) yv = burlap_value() yv.attribute = 'y' yv.value = str(y) dirv = burlap_value() dirv.attribute = 'direction' dirv.value = dir agent = burlap_object() agent.name = 'turtle' agent.object_class = 'agent' agent.values = [xv, yv, dirv] self.agent = agent self.publishState()
def turtlebotCallback(self, data): botInfo = self.parsePose(data) xv = burlap_value() xv.attribute = 'x' xv.value = str(botInfo[0]) yv = burlap_value() yv.attribute = 'y' yv.value = str(botInfo[1]) dv = burlap_value() dv.attribute = 'direction' dv.value = botInfo[2] agent = burlap_object() agent.name = 'turtlebot' agent.object_class = 'agent' agent.values = [xv, yv, dv] self.agent = agent self.publishState()
def talker(): pub = rospy.Publisher('burlap_state', burlap_state, queue_size=10) rospy.init_node('talker', anonymous=True) rate = rospy.Rate(10) # 10hz while not rospy.is_shutdown(): xv = burlap_value() xv.attribute = 'x' xv.value = '3' yv = burlap_value() yv.attribute = 'y' yv.value = '5' agent = burlap_object() agent.name = 'turtlebot' agent.object_class = 'agent' agent.values = [xv, yv] s = burlap_state() s.objects = [agent] pub.publish(s) rate.sleep()
def talker(): pub = rospy.Publisher("burlap_state", burlap_state, queue_size=10) rospy.init_node("talker", anonymous=True) rate = rospy.Rate(10) # 10hz while not rospy.is_shutdown(): xv = burlap_value() xv.attribute = "x" xv.value = "3" yv = burlap_value() yv.attribute = "y" yv.value = "5" agent = burlap_object() agent.name = "turtlebot" agent.object_class = "agent" agent.values = [xv, yv] s = burlap_state() s.objects = [agent] pub.publish(s) rate.sleep()