class RobotWeb(object):
def __init__(self):
self.laucher = Launcher()
@cherrypy.expose
def index(self):
return "Hello! We are Virtuoso Robotics!"
@cherrypy.expose
def start_roscore(self):
self.laucher.launch_roscore()
return 'start roscore'
@cherrypy.expose
def kill_roscore(self):
self.laucher.kill_roscore()
return 'kill roscore'
@cherrypy.expose
def start_roslaunch(self):
self.laucher.roslauncher()
return 'start roslaunch'
@cherrypy.expose
def kill_roslaunch(self):
self.laucher.kill_roslaunch()
return 'kill roslaunch'
class HelloWorld(object):
def __init__(self):
self.laucher = Launcher()
self.pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)
@cherrypy.expose
def index(self):
# <input type="button" value="goalA" onclick="location.href='192.168.3.3:8080/goalA_to'">
# ERIC https://github.com/VirtuosoEric/robot_web_service/blob/pn60/home.html
f = open("home.html", "r")
return f
@cherrypy.expose
def start(self):
# t = threading.Thread(target=launch_nav)
# t.daemon = True
# t.start()
self.laucher.roslauncher()
f = open("strat.html", "r")
return f
@cherrypy.expose
def kill(self):
self.laucher.kill_roslaunch()
return 'kill roscore'
@cherrypy.expose
def goalA_to(self):
goal = PoseStamped()
goal.header.frame_id = "map"
goal.header.stamp = rospy.Time.now()
goal.pose.position.x = 0.240
goal.pose.position.y = -0.344
goal.pose.position.z = 0
goal.pose.orientation.w = 1.0
self.pub.publish(goal)
return 'goal to!'
@cherrypy.expose
def goalA_leave(self):
# pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)
goal = PoseStamped()
goal.header.frame_id = "map"
goal.header.stamp = rospy.Time.now()
goal.pose.position.x = 0
goal.pose.position.y = 0
goal.pose.position.z = 0
goal.pose.orientation.w = 1.0
self.pub.publish(goal)
return 'goal leave!'
@cherrypy.expose
def goalB_to(self):
# pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)
goal = PoseStamped()
goal.header.frame_id = "map"
goal.header.stamp = rospy.Time.now()
goal.pose.position.x = 0.601
goal.pose.position.y = -0.138
goal.pose.position.z = 0
goal.pose.orientation.w = 1.0
self.pub.publish(goal)
return 'goal to!'
# return 'Hello!'
@cherrypy.expose
def goalB_leave(self):
# pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)
goal = PoseStamped()
goal.header.frame_id = "map"
goal.header.stamp = rospy.Time.now()
goal.pose.position.x = 0
goal.pose.position.y = 0
goal.pose.position.z = 0
goal.pose.orientation.w = 1.0
self.pub.publish(goal)
return 'Hello!'
@cherrypy.expose
def goalC_to(self):
# f = open("latop.html", "r")
return 'Hello!'
