def __init__(self):
# Set parameters
self.flag = 1
self.gap = .7 #space needed to pass through
self.agent_id = 1 #Number for Robot $$change
self.stage = 0 #initial target
self.substage = 0 #initial task 0 = drive to objective
self.topicConfig() #configure simulation namspaces or actual huskies
self.connection = gpsLocalization(self.namespace, self.gpsTopic, self.imuTopic, self.xOffset, self.yOffset) #Connection which will give current position
self.path_planner = GapFinder(self.gap) #Finds gaps that the robot can enter
self.actuation = ROS2DimActuate(self.controlTopic) #Controls the motion of the robot
#Create a tracker which knows how to move the robot and get it's position
self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
#Tell the tracker which robot to command
self.tracker.setID(self.agent_id)
#Countdown to start
sleep_time = 3
while sleep_time > 0:
print "Mission starts in:", sleep_time
sleep_time -= 1
sleep(1)
self.distance = []
self.prev_closest_reading = 0.0
self.prev_time = time()
self.crash_avert_velocity = 0.0
print 'Starting the Navigation'
self.subscriber = rospy.Subscriber(self.lidarTopic, LaserScan, self.move, queue_size=1) #Call move for each laser scan
rospy.spin()
def __init__(self):
#set parameters
self.gap = .7 #space needed to pass through
self.agent_id = 0
self.topicConfig()
self.connection = gpsLocalization(argv[3],self.gpsTopic,self.imuTopic) #Connection which will give current position
self.path_planner = GapFinder(self.gap) #Finds gaps that the robot can enter
self.actuation = ROS2DimActuate(self.controlTopic) #Controls the motion of the robot
self.actuation.setAngularVelocityLimit(.5) #Sets the maximum velocity
#Create a tracker which knows how to move the robot and get it's position
self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
#Tell the tracker which robot to command
self.tracker.setID(self.agent_id)
self.distance = []
self.prev_closest_reading = 0.0
self.prev_time = time()
self.crash_avert_velocity = 0.0
print 'Starting the Navigation'
sleep(2)
self.subscriber = rospy.Subscriber(self.lidarTopic, LaserScan, self.move, queue_size=1) #Call move for each laser scan
rospy.spin()
def __init__(self):
self.path_planner = GapFinder(.6)
self.logger = []
self.connection = gpsLocalization('husky1test','husky1/odometry/gps','husky1/imu/data',0,0)
self.subscriber = rospy.Subscriber('husky1/scan', LaserScan, self.readDistance)
self.rate = rospy.Rate(10) # set rate to 10 Hz
while not rospy.is_shutdown() and len(self.logger) < 1:
self.rate.sleep()
