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 __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)
self.type = type(self).__name__
# Unique booleans for Bin instance
self.slow_down_counter = 0
self.is_publishing = True
self.is_empty = True
self.is_carried = False
self.designated_picker = None
self.designated_carrier = None
self.master = None
self.should_face = None
self.empty_response_msg = empty_response()
self.bin_latch = rospy.Publisher('latched_to_picker', empty_response, queue_size=1)
# self.bin_full_latch = rospy.Publisher('latched_to_carrier', full_response, queue_size=1)
def id_response(data):
"""Execute method in response to an empty_response message."""
# rospy.loginfo("SDAFDFDSFDSAFDSAFDSAFDSAFDSAFSADFADSFSADF")
if data.bin_id == self.robot_id:
self.is_publishing = False
robot = robot_storage.getRobotWithId(data.robot_id)
if robot.type == "PickerRobot":
self.designated_picker = data.robot_id
elif robot.type == "CarrierRobot":
self.designated_carrier = data.robot_id
# rospy.loginfo(self.robot_id + " " + data.robot_id)
# self.is_carried = True
def mimic_now(data):
"""Execute method in response to a robot_status message"""
if not self.should_face and data.robot_id == self.designated_picker and not self.master:
if (data.x - 0.4) <= self.position['x'] <= (data.x + 0.4):
if (data.y - 0.4) <= self.position['y'] <= (data.y + 0.4):
picker = robot_storage.getRobotWithId(data.robot_id)
# rospy.loginfo(data.robot_id)
self.latch(picker)
self.empty_response_msg.robot_id = data.robot_id
self.empty_response_msg.bin_id = self.robot_id
if not self.should_face and data.robot_id == self.designated_carrier and not self.master:
if (data.x - 0.4) <= self.position['x'] <= (data.x + 0.4):
if (data.y - 0.4) <= self.position['y'] <= (data.y + 0.4):
carrier = robot_storage.getRobotWithId(data.robot_id)
# rospy.loginfo(data.robot_id)
self.latch(carrier)
self.empty_response_msg.robot_id = data.robot_id
self.empty_response_msg.bin_id = self.robot_id
# Suscribe to topic to recieve response from pickers.
rospy.Subscriber("empty_response_topic", empty_response, id_response)
rospy.Subscriber("statuses", robot_status, mimic_now)
def callback(data):
if not data.is_empty:
self.current_bin_x = data.x
self.current_bin_y = data.y
current_bin = robot_storage.getRobotWithId(data.bin_id)
if self.is_closest() and not self.has_bin and not current_bin.designated_carrier:
self.going_towards = data.bin_id
current_bin.designated_carrier = self.robot_id
rospy.loginfo("Carrier bot coming towards bin " + data.bin_id + " at " + str(self.current_bin_x) + ", " + str(self.current_bin_y))
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
empty_response_pub.publish(msg)
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 callback(data):
if not data.is_empty:
self.current_bin_x = data.x
self.current_bin_y = data.y
current_bin = robot_storage.getRobotWithId(data.bin_id)
if self.is_closest(
) and not self.has_bin and not current_bin.designated_carrier:
self.going_towards = data.bin_id
current_bin.designated_carrier = self.robot_id
rospy.loginfo("Carrier bot coming towards bin " +
data.bin_id + " at " +
str(self.current_bin_x) + ", " +
str(self.current_bin_y))
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
empty_response_pub.publish(msg)