def tasksCallback(self, data):
''' Local -> World Frame '''
rospy.loginfo(" :: SENDING TASK MESSAGE :: ")
taskInfo = data
worldPos, worldHead = self.fConv.localToWorldFrame(
data.taskLocation, 0)
taskInfo.taskLocation = worldPos
# EDIT: send through xbee instead of publishing
str_msg = msgToString(taskInfo)
self.txString(str_msg)
def initCallback(self, data):
''' Local -> World Frame'''
rospy.loginfo(" :: SENDING INITIALIZATION MESSAGE :: ")
initInfo = data
worldPos, worldHead = self.fConv.localToWorldFrame(
data.homeLocation, data.nominalHeading)
initInfo.homeLocation = worldPos
initInfo.nominalHeading = worldHead
# EDIT: send through xbee instead of publishing
str_msg = msgToString(initInfo)
self.txString(str_msg)
def agentCallback(self, data):
rospy.loginfo("Recevived agent msg")
str_msg = msgToString(data)
self.txString(str_msg)
def agentCallback(self, data):
print "Recevived agent msg"
str_msg = msgToString(data)
self.txString(str_msg)