def handle_dig(self, x, y, z): msg = mine_block_msg() msg.x = x msg.y = y msg.z = z msg.status = constants.DIG_START msg.face = constants.FACE_Y_POS self.pub_dig.publish(msg) rospy.sleep(8) return True
m_pub = rospy.Publisher('mine_block_data', mine_block_msg, queue_size=1) p_pub = rospy.Publisher('place_block_data', place_block_msg, queue_size=1) rospy.init_node('mine_and_place_sender') print("mine_and_place sender node initialized") positions = [ (-27, 13, -40), (-27, 13, -41), (-27, 13, -42)] while not rospy.is_shutdown(): message_mine = mine_block_msg() message_place = place_block_msg() for coords in positions: message_mine.status = 0 message_mine.face = 1 message_mine.x = coords[0] message_mine.y = coords[1] message_mine.z = coords[2] m_pub.publish(message_mine) print ("sent command mine_block at: %2f, %2f, %2f") %(message_mine.x, message_mine.y, message_mine.z) rospy.sleep(8.)