Пример #1
0
    def recover_commander(self):
        point = Point()
        point.x = random.uniform(.0, .9)
        point.y = .0
        point.z = .0

        orientation = Navigator.angle_to_quaternion(0)

        rospy.loginfo("Execution recovery behavior")
        Navigator.navigate(point, orientation)
Пример #2
0
    def navigate_commander(self):
        point = Point()
        point.x = random.random()
        point.y = .0
        point.z = .0

        orientation = Navigator.angle_to_quaternion(random.randint(0, 360))

        position_delta = Navigator.position_delta(self.last_pose.position, point)
        orientation_delta = Navigator.orientation_delta(self.last_pose.orientation, orientation)
        Navigator.navigate(position_delta, orientation_delta)