def deixandoObjeto(area, objeto):
client = actionlib.SimpleActionClient('store_puck', StorePuckAction)
client.wait_for_server()
goal = StorePuckGoal()
goal.mode = 0
client.send_goal(goal)
client.wait_for_result()
rospy.logwarn("Entregando Produto")
atualizaArea(area, objeto)
def entregarProduto(nome):
#stop_transportation = rospy.ServiceProxy('stop_transportation', Trigger)
#resp = stop_transportation()
#rospy.loginfo(resp.message)
client = actionlib.SimpleActionClient('store_puck', StorePuckAction)
client.wait_for_server()
rospy.logwarn("entregando produto")
goal = StorePuckGoal()
goal.mode = 1
if (nome == "Deposito1"):
goal.store_number = 0
elif (nome == "Deposito2"):
goal.store_number = 1
elif (nome == "Deposito3"):
goal.store_number = 2
elif (nome == "Casa"):
goal.store_number = 5
# Sends the goal to the action server.
client.send_goal(goal)
# Waits for the server to finish performing the action.
client.wait_for_result()
rospy.logwarn("Entregando Produto")
#sinalize_end = rospy.ServiceProxy('sinalize_end', Trigger)
#resp = sinalize_end()
'''client = actionlib.SimpleActionClient('align', AlignAction)
def entregarProduto(nome):
#stop_transportation = rospy.ServiceProxy('stop_transportation', Trigger)
#resp = stop_transportation()
#rospy.loginfo(resp.message)
client = actionlib.SimpleActionClient('store_puck', StorePuckAction)
client.wait_for_server()
rospy.logwarn("entregando produto")
goal = StorePuckGoal()
goal.mode = 1
if(nome == "Deposito1"):
goal.store_number = 0
elif(nome == "Deposito2"):
goal.store_number = 1
elif(nome == "Deposito3"):
goal.store_number = 2
elif(nome == "Casa"):
goal.store_number = 5
# Sends the goal to the action server.
client.send_goal(goal)
# Waits for the server to finish performing the action.
client.wait_for_result()
rospy.logwarn("Entregando Produto")
#sinalize_end = rospy.ServiceProxy('sinalize_end', Trigger)
#resp = sinalize_end()
'''client = actionlib.SimpleActionClient('align', AlignAction)