def update_table_state(table):
table_width = 1.12
# Cue ball
cue = BallState()
cue.id = 0
cue.point.point.x = 0.5
cue.point.point.y = table_width / 2
table.balls.append(cue)
# 1 ball
ball_1 = BallState()
ball_1.id = 1
ball_1.point.point.x = 1.0
ball_1.point.point.y = table_width / 2
table.balls.append(ball_1)
# 2 ball
ball_2 = BallState()
ball_2.id = 1
ball_2.point.point.x = 1.0
ball_2.point.point.y = table_width / 2 + 0.3
table.balls.append(ball_2)
from fastfiz_msgs.srv import SimulateShot, SimulateShotRequest, SimulateShotResponse
from billiards_msgs.msg import TableState, BallState
if __name__ == "__main__":
rospy.init_node("shot_test")
ss = rospy.ServiceProxy("simulate_shot", SimulateShot, persistent=True)
pub = rospy.Publisher("simulated_shot", TableState, latch=True)
vel = 0.5
phi = 0.0
while (True):
req = SimulateShotRequest()
ball = BallState()
ball.id = 0
ball.point.point.x = 0.5
ball.point.point.y = 0.5
req.state.balls.append(ball)
ball2 = BallState()
ball2.id = 1
ball2.point.point.x = 1.0
ball2.point.point.y = 0.5
req.state.balls.append(ball2)
req.shot.v = vel
req.shot.theta = 1.5
req.shot.phi = phi
