def __init__(self, *args, **kwargs): self.NAME = "Search Controller" super(Search_Controller, self).__init__(*args, **kwargs) l = rospy.get_param("~major_axis") w = rospy.get_param("~minor_axis") x0 = rospy.get_param("~x_center") y0 = rospy.get_param("~y_center") alt = rospy.get_param("~alt") grid_step = rospy.get_param("~scan_step") self.search_speed = rospy.get_param("~search_speed", DEFAULT_MAX_SPEED_XY) # self.wp_list = Utils.elliptical_wp(l,w,x0,y0,grid_step,alt) self.wp_list = Utils.single_wp() self.track_counter = 0 self.tracking = False
def startup(self): #Load the mission waypoints self.wp_list = Utils.single_wp()