def execute(self, userdata):
rospy.loginfo("Side : " + str(userdata.robot_side))
request = UpdatePriorityRequest() # TODO
request.goal.pose.position.x = userdata.robot_side*(1.500 - 0.300)
request.goal.pose.position.y = 0.800
request.prio = 100
self.update_objective.send_request(request)
finished_within_time = self.update_objective.wait_for_response(rospy.Duration(10))
response = self.update_objective.get_response()
rospy.loginfo("Objective DropShell priority updated")
return 'succeeded'
def requestPrioShell_cb(self, userdata, request):
rospy.loginfo("Side : " + str(userdata.robot_side))
update_request = UpdatePriorityRequest()
update_request.goal.pose.position.x = userdata.robot_side*(1.500 - 0.300)
update_request.goal.pose.position.y = 0.800
update_request.prio.data = 100
rospy.loginfo("Request Priority Drop shell update")
return update_request
def execute(self, userdata):
rospy.loginfo("Side : " + str(userdata.robot_side))
tesssst = GetObjective()
tesssst.send_request(GetObjectiveRequest())
blabla = GetObjectiveRequest()
request = UpdatePriorityRequest()
request.goal.pose.position.x = userdata.robot_side*(1.500 - 1.300)
request.goal.pose.position.y = 1.000
request.prio = 100
#self.update_objective.send_request(request)
#finished_within_time = self.update_objective.wait_for_response(rospy.Duration(10))
#response = self.update_objective.get_response()
rospy.loginfo("Objective DropCubes priority updated")
return 'succeeded'
