from robots import Robot, Animal, Person, DifferentRobot, PickerRobot, CarrierRobot, Bin, Tractor, EducatedPerson
from actions import MoveAction, RotateAction, NavigateAction, Figure8Action, MoveRandomAction
import robot_storage
from math import pi
"""Main file for initializing and executing the robots of the orchard simulator."""
rospy.init_node('main')
animal = Animal('robot_0', 2, 0.5, 20.5, 0, 0)
person1 = Person('robot_1', 2, 0.5, 0, 45, 0)
person2 = EducatedPerson('robot_2', 2, 0.5, -20.5, 0, 0)
tractor = Tractor('robot_3', 2, 0.9, -20.5, 45, 0)
binbot1 = Bin('robot_4', 3, 0.5, -8.75, -39, pi/2)
binbot2 = Bin('robot_5', 3, 0.5, -1.75, -39, pi/2)
binbot3 = Bin('robot_6', 3, 0.5, 1.75, -39, pi/2)
binbot4 = Bin('robot_7', 3, 0.5, 5.25, -39, pi/2)
picker1 = PickerRobot('robot_8', 3, 0.5, -8.75, -44, 0)
picker2 = PickerRobot('robot_9', 3, 0.5, 1, -44, 0)
picker3 = PickerRobot('robot_10', 3, 0.5, 7, -44, 0)
carrier1 = CarrierRobot('robot_11', 3, 0.5, 35.5, -25, 0)
carrier2 = CarrierRobot('robot_12', 2, 0.5, 41.5, -35, 0)
def setUp(self):
rospy.init_node('test_tractor')
self.tractor = Tractor('robot_0', 2, 0.9, -20, 43, 0)
for i in range(0, 20):
self.tractor.execute()