def spawnGenEnvironment(req):
initial_pose = Pose()
initial_pose.position.x = 0
initial_pose.position.y = 0
initial_pose.position.z = 0
quaternion = tf.transformations.quaternion_from_euler(0, 0, 0)
initial_pose.orientation.x = quaternion[0]
initial_pose.orientation.y = quaternion[1]
initial_pose.orientation.z = quaternion[2]
initial_pose.orientation.w = quaternion[3]
f = open(
'/home/knmcguire/Software/catkin_ws/src/indoor_environment_generator/models/random_generated_environment/test_model.sdf',
'r')
sdff = f.read()
rospy.wait_for_service('gazebo/spawn_sdf_model')
spawn_model_prox = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
spawn_model_prox("some_robo_name", sdff, "robotos_name_space",
initial_pose, "world")
msg = Trigger()
msg.succes = True
msg.message = "jeej"
return []
def _toggle(req):
global _ctrl_on
_ctrl_on = not _ctrl_on
srv = Trigger()
srv.success = True
srv.message = "Controller is {}".format(_ctrl_on)
return TriggerResponse(True, "Controller is {}".format(_ctrl_on))
def callback(self, message):
self.latest_message = message
self.detection_dict = self.four_sector_detection()
crashed, direction = self.has_crashed():
if crashed:
trigger = Trigger()
trigger.success = False
trigger.message = direction
self.crash_publisher.publish(trigger)
def command_callback(self, msg):
try:
if msg.isValid():
if msg.getReceiver() == self.command_proxy_server_name:
command = msg.getCommand()
try:
data = msg.getData("data")
except:
data = None
Trigger(data)
Logger.log(self.command_proxy_server_name.replace("_supervisor", "") + ": " + command)
else:
self.command_server_last_message = None
else:
self.command_server_last_message = None
Logger.error(self.command_proxy_server_name.replace("_supervisor", "") + ": invalid message!!")
self.sendResponse(False)
except Exception as e:
self.sendResponse(False)
def timeout(self, event):
"""Stop recording when the timeout is reached, callback function"""
if self.recording:
rospy.logwarn("Reached recording limit, stopping recording!")
self.stop_recording(Trigger())
def handle(req):
arming(True)
rospy.sleep(0.5)
arming(False)
r = Trigger()
return (True, 'ok')
# Create timer event and publish.
period = float(rospy.get_param("~period"))
# Create lock for msgs.
lock = Lock()
# Setup services and publish mission.
rospy.Service("get_active_mission", Trigger, get_active_mission)
rospy.Service("get_mission_by_id", GetMissionByID, get_mission_by_id)
# Get mission to begin publishing. This is the first mission published.
mission_id = rospy.get_param("~id")
msgs = None
retry_rate = rospy.Rate(1)
while msgs is None and not rospy.is_shutdown():
# If id is negative then it is default and non existent.
if mission_id >= 0:
req = GetMissionByID()
req.id = mission_id
get_mission_by_id(req)
else:
get_active_mission(Trigger())
retry_rate.sleep()
# Publish message on timer.
timer = rospy.Timer(rospy.Duration(period), publish_mission)
rospy.spin()
