def init(cls):
parser = ThrowingArgumentParser(
description='Command Line Mission Runner',
usage='Pass any pose editor commands with an arguments. \n\t\
forward 1 (moves forward 1 meter) \n\t\
backward 2ft (moves backward 2 feet)\
\n\t forward 1 backward 2ft\
(moves forward 1 meter then from there moves backward 2 feet), '
)
parser.add_argument(
'commands',
type=str,
nargs='*',
help=
'Pose editor commands to run each followed by an argument to pass to the command\
(distance or angle usally). \
Optionally a unit can be added if a non-standard unit is desired.'
)
parser.add_argument('-s',
'--speed',
type=float,
default=0.2,
help="How fast to execute the move. (m/s)")
parser.add_argument('-z',
'--zrp',
action='store_true',
help="Make end goal have zero roll and pitch.")
parser.add_argument('-b',
'--blind',
action='store_true',
help="Do not check if waypoint is safe.")
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(description='start gate marshall',
usage='''start gate marshall''')
parser.add_argument('-q',
'--quals',
action='store_true',
help='set for quals')
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(
description='Dock',
usage='''Default parameters: \'runtask Docking
\'''')
parser.add_argument('-t', '--time', type=int, default=-1)
cls.parser = parser
cls.bboxsub = cls.nh.subscribe("/bbox_pub", ObjectsInImage)
cls.camera_lidar_tf = cls.nh.get_service_client(
'/camera_to_lidar/front_right_cam', CameraToLidarTransform)
def init(cls):
parser = ThrowingArgumentParser(description='Explore a bit mission',
usage='Default parameters: \'runtask ExploreJaxon\'')
parser.add_argument('-c', '--count', type=int, default=5,
help='number of unclassified objects to attempt')
parser.add_argument('-d', '--dist', type=float, default=30.,
help='distance to limit checks to')
parser.add_argument('-b', '--backup', type=float, default=7.,
help='distance to limit checks to')
parser.add_argument('-w', '--wait', type=float, default=8.,
help='distance to limit checks to')
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(description='Start Gate Mission',
usage='Default parameters: \'runtask ObstacleAvoid\'')
parser.add_argument('-p', '--numpasses', type=int, default=3,
help='number of passes through the obstacle course to make')
parser.add_argument('-d', '--outoffset', type=int, default=10,
help='distance from the course in meters to traverse to')
parser.add_argument('-i', '--usepoi', action='store_true',
help='set to use pois for square corners')
parser.add_argument('-s', '--speed', type=float, default=0.75,
help='set speed_factor of boat')
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(description="Navigation Pass Mission")
parser.add_argument('--use-pcodar', dest='pcodar', action='store_true',
help='User PCODAR objects instead of clicked point')
parser.add_argument('-m', '--moves', dest='num_moves', type=int, default=5,
help='Number of moves to make, more is more likely to not leave gate')
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(description='Command Line Mission Runner',
usage='Pass any pose editor commands with an arguments. \n\t\
forward 1 (moves forward 1 meter) \n\t\
backward 2ft (moves backward 2 feet)\
\n\t forward 1 backward 2ft\
(moves forward 1 meter then from there moves backward 2 feet), ')
parser.add_argument('commands', type=str, nargs='*',
help='Pose editor commands to run each followed by an argument to pass to the command\
(distance or angle usally). \
Optionally a unit can be added if a non-standard unit is desired.')
parser.add_argument('-s', '--speed', type=float, default=0.2,
help="How fast to execute the move. (m/s)")
parser.add_argument('-z', '--zrp', action='store_true',
help="Make end goal have zero roll and pitch.")
parser.add_argument('-b', '--blind', action='store_true',
help="Do not check if waypoint is safe.")
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(description='Start Gate Mission',
usage='Default parameters: \'runtask ObstacleAvoid\'')
parser.add_argument('-p', '--numpasses', type=int, default=3,
help='number of passes through the obstacle course to make')
parser.add_argument('-d', '--outoffset', type=int, default=10,
help='distance from the course in meters to traverse to')
cls.parser = parser
def init(cls):
class Range(object):
'''
https://stackoverflow.com/a/12117089
'''
def __init__(self, start, end):
self.start = start
self.end = end
def __eq__(self, other):
return self.start <= other <= self.end
parser = ThrowingArgumentParser(
description='Start Gate Mission',
usage='''Default parameters: \'runtask EntranceGate
--scandist 10 --speed 0.75 --scantime 10 --traversaldist 7\''''
)
parser.add_argument(
'-p',
'--passscan',
action='store_true',
help=
'''setting results in a scan by traversing the gates (pass scan mode),
not setting results in a scan by listening at two points (two points scan mode)'''
)
parser.add_argument(
'-m',
'--multilateration',
action='store_true',
help=
'setting enables multilateration-based scanning, otherwise uses intersecting lines'
)
parser.add_argument(
'-c',
'--scandist',
type=int,
default=10,
help='distance from the gates in meters to scan from')
parser.add_argument(
'-s',
'--speed',
type=float,
default=0.75,
choices=[Range(0.0, 1.0)],
help='speed to move when scanning in pass pass mode')
parser.add_argument(
'-k',
'--nokill',
action='store_false',
help='set to not kill thrusters during scan in two points scan mode'
)
parser.add_argument(
'-t',
'--scantime',
type=int,
default=10,
help=
'number of seconds to scan at each point for in two points scan mode'
)
parser.add_argument(
'-d',
'--traversaldist',
type=int,
default=7,
help=
'distance from each side of the gates to navigate to when crossing'
)
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(
description='Command Line Mission Runner',
usage='Pass any pose editor command with an argument. \n\t\
forward 1 (moves forward 1 meter) \n\t backward 2ft (moves backward 2 feet)'
)
parser.add_argument('commands',
type=str,
nargs='*',
help='Pose editor command to run')
parser.add_argument(
'-m',
'--movetype',
type=str,
default='drive',
help=
'Move type. See lqrrt documentation for info on how to use this.')
parser.add_argument(
'-f',
'--focus',
type=str,
help=
'Point to focus on. See lqrrt documentation for info on how to use this. \
If not specified, default to focusing around clicked point. ex. "[10, 2.3, 1]"'
)
parser.add_argument(
'-p',
'--plantime',
type=float,
help='Time given to the planner for it\'s first plan.')
parser.add_argument(
'-b',
'--blind',
action='store_true',
help='Move without looking at the ogrid. DANGEROUS.')
parser.add_argument(
'-sf',
'--speedfactor',
type=str,
default="[1, 1, 1]",
help=
'Speed to execute the command, don\'t go too much higher than 1 on the real boat. \
Use like "[1, 1, .2]" to reduce rotation speed to 20% max or just ".5"\
to reduce x, y, and rotational speed to 50% max.'
)
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(
description='Command Line Mission Runner',
usage='Pass any pose editor command with an argument. \n\t\
forward 1 (moves forward 1 meter) \n\t backward 2ft (moves backward 2 feet)')
parser.add_argument('commands', type=str, nargs='*',
help='Pose editor command to run')
parser.add_argument('-m', '--movetype', type=str, default='drive',
help='Move type. See lqrrt documentation for info on how to use this.')
parser.add_argument('-f', '--focus', type=str,
help='Point to focus on. See lqrrt documentation for info on how to use this. \
If not specified, default to focusing around clicked point. ex. "[10, 2.3, 1]"')
parser.add_argument('-p', '--plantime', type=float,
help='Time given to the planner for it\'s first plan.')
parser.add_argument('-b', '--blind', action='store_true',
help='Move without looking at the ogrid. DANGEROUS.')
parser.add_argument('-sf', '--speedfactor', type=str, default="[1, 1, 1]",
help='Speed to execute the command, don\'t go too much higher than 1 on the real boat. \
Use like "[1, 1, .2]" to reduce rotation speed to 20% max or just ".5"\
to reduce x, y, and rotational speed to 50% max.')
cls.parser = parser
def init(cls):
parser = ThrowingArgumentParser(
description='Detect Deliver Find',
usage='''Default parameters: \'runtask DetectDeliverFind
\'''')
parser.add_argument('-l',
'--longscan',
action='store_true',
help='set to scan the long side')
parser.add_argument('-s',
'--shortscan',
action='store_true',
help='set to scan the short side')
parser.add_argument(
'-o',
'--overridescale',
action='store_true',
help=
'''setting causes manual dock size to replace scale, where scale is only
used to determine which side is longer''')
parser.add_argument(
'-c',
'--circle',
action='store_true',
help=
'''setting causes navigator to circle the dock once first in order to help
PCODAR gather enough information to produce scale and an accurate orientation'''
)
parser.add_argument('-d',
'--scandist',
type=int,
default=6,
help='distance to scan the images from')
parser.add_argument(
'-i',
'--lookin',
action='store_true',
help='look into the dock at the end instead of being side ways')
parser.add_argument('-e',
'--enddist',
type=int,
default=5,
help='the distance to go to as the end point')
cls.parser = parser
cls.bboxsub = cls.nh.subscribe("/bbox_pub", ObjectsInImage)