def setObjectClient():
obj = ObjectMsg()
obj.x = x
obj.y = y
obj.message = msg
obj.type = type
rospy.wait_for_service('set_object')
try:
set_object = rospy.ServiceProxy('set_object', SetObject)
resp1 = set_object(obj)
return resp1.success
except rospy.ServiceException, e:
print "Service call failed: %s"%e
def getObjectsCallback(self, req): res = GetObjectsResponse() if req.localization_type == "dynamic": for i in range(0, len(self.objects)): obj = ObjectMsg() obj.x = self.objects.values()[i].x obj.y = self.objects.values()[i].y obj.message = self.objects.values()[i].message obj.type = self.objects.values()[i].type if req.object_type == self.objects.values()[i].type or req.object_type == "all" or req.object_type == "": if obj.message in res.objects: continue res.objects.append(obj) elif req.localization_type == "static": for i in range(0, len(self.static_objects)): obj = ObjectMsg() obj.x = static_objects[i].x obj.y = static_objects[i].y obj.message = static_objects[i].message obj.type = static_objects[i].type res.objects.append(obj) elif req.localization_type == "all": for i in range(0, len(self.objects)): obj = ObjectMsg() obj.x = self.objects.values()[i].x obj.y = self.objects.values()[i].y obj.message = self.objects.values()[i].message obj.type = self.objects.values()[i].type if req.object_type == self.objects.values()[i].type or req.object_type == "all" or req.object_type == "": if obj.message in res.objects: continue res.objects.append(obj) for i in range(0, len(self.static_objects)): obj = ObjectMsg() obj.x = static_objects[i].x obj.y = static_objects[i].y obj.message = static_objects[i].message obj.type = static_objects[i].type res.objects.append(obj) else: print "No such type" res.success = True print res.objects return res
