def reset_map(self):
wait_for_service_wrapper('map_reset', timeout=3)
try:
map_reset_client = rospy.ServiceProxy('map_reset', Empty)
resp1 = map_reset_client()
time.sleep(0.3)
except rospy.ServiceException as e:
print("Service call failed: %s" % e)
def plot_prob_dist(self, data):
wait_for_service_wrapper('plot_prob_dist', timeout=3)
try:
plot_prob_dist_client = rospy.ServiceProxy('plot_prob_dist',
ProbDist)
resp1 = plot_prob_dist_client(data)
time.sleep(0.3)
return resp1.result
except rospy.ServiceException as e:
print("Service call failed: %s" % e)
def visualize_map(self):
wait_for_service_wrapper('map_init', timeout=3)
try:
map_init_client = rospy.ServiceProxy('map_init', MapInit)
resp1 = map_init_client(self.loc.mapper.lines[0][:, 0],
self.loc.mapper.lines[0][:, 1],
self.loc.mapper.lines[1][:, 0],
self.loc.mapper.lines[1][:, 1])
time.sleep(0.3)
# return resp1.result
except rospy.ServiceException as e:
print("Service call failed: %s" % e)
def reset(self):
self.set_vel(0, 0)
print(" | Resetting Robot pose")
wait_for_service_wrapper('/reset_positions')
try:
reset_positions = rospy.ServiceProxy('/reset_positions', Empty)
reset_positions()
time.sleep(1.5)
except rospy.ServiceException as e:
print("Service call failed: %s" % e)
