def launcher(motionProxy, postureProxy, markProxy):
init_robot.stiffness_on(motionProxy)
init_robot.init_pos(postureProxy)
videoDeviceProxy = camera.init_camera()
camera.up_camera(videoDeviceProxy)
period = 500 # ms
markProxy.subscribe('goal_pos', period, 0.0)
def main():
motionProxy = init_robot.start_motion()
postureProxy = init_robot.start_posture()
rospy.init_node('kicker', anonymous=True)
if not rospy.has_param('frames'):
rospy.set_param('frames', 10) #valor default
frames = rospy.get_param('frames')
target_x = calculate_target_x(frames)
target_y = calculate_target_y(frames)
prepare_kick(motionProxy)
basic_kick.basic_kick(motionProxy)
#kick(motionProxy, target_x, target_y, deviation)
trajectory = get_trajectory()
rospy.loginfo('Ball trajectory: ' + str(trajectory))
trajectory_to_csv(trajectory, alpha)
# print_trajectory(trajectory)
init_robot.init_pos(postureProxy)
