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)
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)