def __init__(self):
# creates the action server
self._as = actionlib.SimpleActionServer("action_custom_msg_as",
record_odomAction,
self.goal_callback, False)
self._as.start()
self._result = record_odomResult()
self._feedback = record_odomFeedback()
self.stack = record_odomResult()
self.my_reader = odom_reader()
self.rate = rospy.Rate(1)
def goal_callback(self, goal):
# helper variables
r = rospy.Rate(1)
success = True
for i in xrange(self._seconds_recording):
rospy.loginfo("Recording Odom index=" + str(i))
if self._as.is_preempt_requested():
rospy.loginfo('The goal has been cancelled/preempted')
self._as.set_preempted()
success = False
break
else:
if not self.reached_distance_goal():
rospy.logdebug('Reading Odometry...')
self._result.result_odom_array.append(
self.odom_subs.get_odomdata())
else:
rospy.logwarn('Reached distance Goal')
# we end the action loop
break
r.sleep()
if success:
self._as.set_succeeded(self._result)
self._result = record_odomResult()
def __init__(self, maze_length):
self._as = actionlib.SimpleActionServer("action_server",
record_odomAction,
self.goal_callback, False)
self._as.start()
self.odo_obj = OdomTopicReader()
self.goal_length = maze_length
self.result_var = record_odomResult()
self.time_limit = 120
def __init__(self, timeOut, distTarget):
self.actionServer = actionlib.SimpleActionServer('turtleBotExit', record_odomAction, self.callback, False)
self.actionServer.start()
self.timeOut = timeOut
self.distTarget = distTarget
self.odomReader = OdomReader()
self.result = record_odomResult()
self.odomData = []
rospy.loginfo("OdomActionServer instance created")
def __init__(self, goal_distance=float(goal), seconds_recording=int(seconds)):
# Creates the action server
self._as = actionlib.SimpleActionServer("rec_odom_as", record_odomAction, self.execute_cb, False)
self._as.start()
# Create an object that reads from the topic Odom
self._odom_sub_object = OdomSubscriber()
# Create messages that are used to publish result
self._result = record_odomResult()
self._goal_distance = goal_distance
self._seconds_recording = seconds_recording
def __init__(self, goal_distance):
# creates the action server
self._as = actionlib.SimpleActionServer("record_odom",
record_odomAction,
self.goal_callback, False)
self._as.start()
self.odom_subs = OdomTopicReader()
self._result = record_odomResult()
self._seconds_recording = 120
self._goal_distance = goal_distance
def __init__(self):
self.myActionOdomServerObj = actionlib.SimpleActionServer(
'/myActionOdomServer', record_odomAction, self.actionOdomCallback,
False)
self.myActionOdomServerObj.start()
self.myRate = rospy.Rate(1)
self.tiempoMaxSeg = 90 #Time limit for the robot to get out of the maze
self.miSubOdom = OdomTurtleSub(
) #OdomTurtleSub object, used to subscribe to the /odom topic
self.miResultadoAct = record_odomResult()
rospy.loginfo("Odometry Action Server ready!")
def __init__(self,
goal_dist=9,
action_server_name='/rec_odom_as',
time_limit=120):
self._action_server = actionlib.SimpleActionServer(
action_server_name, record_odomAction, self._cb, False)
self._result = record_odomResult()
self._odom_reader = OdomReader()
self._odom_analyzer = OdomAnalysis()
self._time_limit = time_limit
self._goal_dist = goal_dist
rospy.loginfo("Action server to calculate Odometry is launched")
self._action_server.start()
class Odom_server(object):
# create messages that are used to publish feedback/result
_feedback = record_odomFeedback()
_result = record_odomResult()
def __init__(self):
# creates the action server
self._as = actionlib.SimpleActionServer("/rec_odom_as",
record_odomAction,
self.goal_callback, False)
self._as.start()
self.rate = rospy.Rate(10)
self.tic = time.time()
self.tok = time.time()
def goal_callback(self, goal):
# this callback is called when the action server is called.
# this is the function that computes the Fibonacci sequence
# and returns the sequence to the node that called the action server
# helper variables
r = rospy.Rate(1)
self.tic = time.time()
self.tok = time.time()
while self.tok - self.tic < 42:
self.tok = time.time()
#print(self.tok - self.tic)
#print(OdomClass.data)
self._result.result_odom_array.append(OdomClass.data)
if OdomClass.data.pose.pose.position.y < -8.5:
rospy.loginfo("Congradulation! exit maze!")
break
time.sleep(0.1)
time.sleep(1)
print('Mission time : %f' % (self.tok - self.tic))
self._as.set_succeeded(self._result)
def clean_variables(self):
"""
Cleans variables for the next call
"""
self._result = record_odomResult()
def clean_variables(self):
self.result_var = record_odomResult()
def _reset_action_server(self):
self._result = record_odomResult()