def __init__(self, handle):
'''
input_keys=[]
outcomes = ['succeeded', 'failed', 'preempted', 'error']
'''
TaskBase.__init__(self, handle)
self.initial_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped)
def __init__(self, handle):
'''
input_keys=[]
outcomes = ['succeeded', 'failed', 'preempted', 'error']
'''
TaskBase.__init__(self, handle)
self.cmd_vel_pub = rospy.Publisher("/cmd_vel_mux/input/teleop", Twist)
self.motors_pub = rospy.Publisher("/mobile_base/commands/motor_power", MotorPower)
rospy.loginfo("created cmd_vel publisher")
def __init__(self, handle):
'''
input_keys=['frame_id', 'x', 'y', 'theta', 'collision_aware']
outcomes = ['succeeded', 'failed', 'preempted', 'error']
'''
TaskBase.__init__(self, handle)
move_base_uri = '/move_base'
self.move_base_node_name = rospy.get_param('move_base_node_name', '/move_base_node')
self.move_base_client = actionlib.SimpleActionClient(move_base_uri, mbm.MoveBaseAction)
rospy.loginfo("waiting for move base server")
self.move_base_client.wait_for_server()
rospy.loginfo("move base server found")
def __init__(self, handle):
TaskBase.__init__(self, handle)
def __init__(self, handle):
'''
input_keys=['text']
outcomes = ['succeeded', 'failed', 'preempted', 'error']
'''
TaskBase.__init__(self, handle)