def __init__(self):
self.vision = AnalysisStake("base_stake")
self.control = CommandInterfaces("STAKE")
self.rate = rospy.Rate(5)
self.status_mission = 0
def __init__(self):
self.vision = AnalysisDrop("base_drop")
self.control = CommandInterfaces("DROP")
self.rate = rospy.Rate(5)
self.status_mission = 0
def __init__(self, gate_proxy):
self.gate_proxy = gate_proxy
self.param = {
'checkDeep': {
'wanted': -0.85,
'acceptableError': 0.10,
},
'firstFinding': {
'threshold': 0.9,
'rotateAngle': 30 * 3.1416 / 180, # Tune value
# Should be ~120 when switch is used.
'maxAngle': 120 * 3.1416 / 180,
},
'forwardToGate': {
'cxThresold': 0.2, # Tune value
'rotateAngle': 10,
'moveDist': 0.25,
'normalDist': 0.5,
# If don't found gat will go to last mode. Use in Step02
'timeLimit': 30,
},
'finalMoveDist': 4.0,
'endThreshold': 0.2,
'visionStatusHistory': 20,
}
self.control = CommandInterfaces('Gate')
def __init__(self):
self.vision = AnalysisBuoy("base_buoy")
self.control = CommandInterfaces("BUOY")
self.rate = rospy.Rate(5)
self.status_mission = 0
self.ok_count = 5
def __init__(self):
self.vision = AnalysisPath("base_path")
self.control = CommandInterfaces("PATH")
self.rate = rospy.Rate(5)
self.status_mission = 0
self.ok_count = 5
def __init__(self):
self.vision = AnalysisGate("base_gate")
self.control = CommandInterfaces("GATE")
self.rate = rospy.Rate(5)
self.state_mission = 0
self.save_point_x = 0
self.save_point_y = 0
self.last_distance_to_found = 0
def __init__( self ):
self.control = CommandInterfaces( "strategy" )
self.control.publish_data( "Waiting service name /vision/gate" )
rospy.wait_for_service('/vision/gate')
self.rate = rospy.Rate( 10 )
# Step setup mission Gate
self.mission_gate = Gate()
# Step setup mission Path
self.mission_path = Path()
self.vision_path = AnalysisPath()
# Step setup mission Buoy
self.mission_buoy = Buoy()
self.vision_buoy = AnalysisBuoy()
# Step setup mission Drop
self.mission_drop = Drop()
self.vision_drop = AnalysisDrop()
# Step setup mission Exposed analysis coffin
self.mission_exposed = Exposed()
self.vision_coffin = AnalysisCoffin( "base_coffin" )
self.mission_stake = Stake()
self.vision_stake = AnalysisStake( "base_stake" )
self.current_play = False
# Step setup service of strategy_mission
self.service_service = rospy.Service(
'/mission/strategy' , SendBool() , self.callback_service )
self.control.publish_data( "Waiting command to run mission")
while( not rospy.is_shutdown() ):
if( self.current_play ):
self.main()
self.current_play = False
break
self.rate.sleep()
def __init__(self):
self.control = CommandInterfaces("strategy")
self.control.publish_data("Waiting service name /vision/gate")
rospy.wait_for_service('/vision/gate')
self.rate = rospy.Rate(10)
# Step setup mission gate
# try:
# gate_srv = rospy.ServiceProxy('/vision/gate', VisionGate)
# except rospy.ServiceException, e:
# print("Service call failed: %s" % e)
# self.mission_gate = Gate(gate_srv)
self.mission_gate = Gate()
# Step setup mission Path
self.mission_path = Path(_CONSTANT_PATH_1_MOVEMENT_X_,
_CONSTANT_PATH_1_MOVEMENT_Y_)
self.vision_path = AnalysisPath()
# Step setup mission buoy
self.mission_buoy = Buoy()
self.vision_buoy = AnalysisBuoy()
self.current_play = False
# Step setup service of strategy_mission
self.service_service = rospy.Service('/mission/strategy', SendBool(),
self.callback_service)
self.control.publish_data("Waiting command to run mission")
while (not rospy.is_shutdown()):
if (self.current_play):
self.main()
self.current_play = False
break
self.rate.sleep()
#!/usr/bin/python2
from __future__ import print_function
import rospy
import math
from zeabus_utility.srv import VisionSrvQualification
from zeabus.control.command_interfaces import CommandInterfaces
from std_msgs.msg import String
control = CommandInterfaces('mission_qualify_2')
def main():
# rospy.sleep(20)
service_name = 'vision/qualification'
print('wait service')
rospy.wait_for_service(service_name)
print('service start')
call = rospy.ServiceProxy(service_name, VisionSrvQualification)
i = 0
last = 0
last_move = False
finish_marker = False
old_cx = 0.5
control.reset_state()
control.absolute_z(-1.2)
r = rospy.Rate(10)
while control.check_z(0.15) == False:
print("Wait for Z")
r.sleep()
continue
while not rospy.is_shutdown():
from __future__ import print_function
from zeabus.control.command_interfaces import CommandInterfaces
import rospy
import math
if __name__ == "__main__":
rospy.init_node("testing")
name_node = rospy.get_name()
auv_control = CommandInterfaces(name_node)
auv_control.reset_state(0, 0)
auv_control.echo_data()
print("Now I will absolute yaw to north")
auv_control.absolute_yaw(math.pi / 2)
auv_control.echo_data()
print("I will waiting yaw")
while (not rospy.is_shutdown()):
if (auv_control.check_yaw(0.5)):
def __init__(self):
self.vision = AnalysisCoffin("base_coffin")
self.control = CommandInterfaces("PATH")
self.rate = rospy.Rate(5)