def get_walking_params(max_linear_vel, max_rotation_vel):
max_vel_linear = geometry_pb2.Vec2(x=max_linear_vel, y=max_linear_vel)
max_vel_se2 = geometry_pb2.SE2Velocity(linear=max_vel_linear,
angular=max_rotation_vel)
vel_limit = geometry_pb2.SE2VelocityLimit(max_vel=max_vel_se2)
params = RobotCommandBuilder.mobility_params()
params.vel_limit.CopyFrom(vel_limit)
return params
def get_mobility_params():
"""Gets mobility parameters for following"""
vel_desired = .75
speed_limit = geo.SE2VelocityLimit(
max_vel=geo.SE2Velocity(linear=geo.Vec2(x=vel_desired, y=vel_desired), angular=.25))
body_control = set_default_body_control()
mobility_params = spot_command_pb2.MobilityParams(vel_limit=speed_limit, obstacle_params=None,
body_control=body_control,
locomotion_hint=spot_command_pb2.HINT_TROT)
return mobility_params
LOGGER = logging.getLogger()
VELOCITY_BASE_SPEED = 0.5 # m/s
VELOCITY_BASE_ANGULAR = 0.8 # rad/sec
VELOCITY_CMD_DURATION = 0.6 # seconds
COMMAND_INPUT_RATE = 0.1
# Velocity limits for navigation (optional)
NAV_VELOCITY_MAX_YAW = 1.2 # rad/s
NAV_VELOCITY_MAX_X = 1.0 # m/s
NAV_VELOCITY_MAX_Y = 0.5 # m/s
NAV_VELOCITY_LIMITS = geometry_pb2.SE2VelocityLimit(
max_vel=geometry_pb2.SE2Velocity(linear=geometry_pb2.Vec2(
x=NAV_VELOCITY_MAX_X, y=NAV_VELOCITY_MAX_Y),
angular=NAV_VELOCITY_MAX_YAW),
min_vel=geometry_pb2.SE2Velocity(linear=geometry_pb2.Vec2(
x=-NAV_VELOCITY_MAX_X, y=-NAV_VELOCITY_MAX_Y),
angular=-NAV_VELOCITY_MAX_YAW))
def _grpc_or_log(desc, thunk):
try:
return thunk()
except (ResponseError, RpcError) as err:
LOGGER.error("Failed %s: %s" % (desc, err))
class ExitCheck(object):
"""A class to help exiting a loop, also capturing SIGTERM to exit the loop."""
def __init__(self):
