server_node = rospy.get_param("~server", "/task_server") default_period = rospy.get_param("~period", 0.05) tc = TaskClient(server_node, default_period) rospy.loginfo("Mission connected to server: " + server_node) scale = 1.5 vel = 1 angle = 1.5 tc.WaitForAuto() try: tc.GoToPose(goal_x=3, goal_y=3, max_velocity=vel, goal_angle=1, dumbSmart=False, k_v=3, k_alpha=8, k_gamma=-1.5, Holonomic=True) tc.Wait(duration=1.0) # tc.GoToPose(goal_x=scale,goal_y=-scale,max_velocity=0.5,goal_angle=0,dumbSmart=False,k_v=3,k_alpha=8,k_gamma=-1.5,Holonomic=True) # tc.Wait(duration=1.0) # tc.GoToPose(goal_x=-scale,goal_y=scale,max_velocity=0.5,goal_angle=3,dumbSmart=False,k_v=3,k_alpha=8,k_gamma=-1.5,Holonomic=True) # tc.Wait(duration=1.0) #tc.GoToPose(goal_x=-scale,goal_y=scale,max_velocity=vel,goal_angle=0,dumbSmart=True,k_v=3,k_alpha=8,k_gamma=-0.5) #tc.Wait(duration=1.0)
from task_manager_lib.TaskClient import * import math rospy.init_node('task_client') server_node = rospy.get_param("~server", "/task_server") default_period = rospy.get_param("~period", 0.05) tc = TaskClient(server_node, default_period) rospy.loginfo("Mission connected to server: " + server_node) scale = 2.0 vel = 0.5 tc.WaitForAuto() try: tc.GoToPose(goal_x=-0.5, goal_y=-0.5, goal_angle=190, smart_mode=True, relative=True, max_velocity=0.5, angle_error=6. * math.pi / 180.) except TaskException, e: rospy.logerr("Exception caught: " + str(e)) if not rospy.core.is_shutdown(): tc.SetManual() rospy.loginfo("Mission completed GotoPose")
rospy.init_node('task_client') server_node = rospy.get_param("~server", "/task_server") default_period = rospy.get_param("~period", 0.05) tc = TaskClient(server_node, default_period) rospy.loginfo("Mission connected to server: " + server_node) smart = True vel = 0.5 ang_vel = 3 tc.WaitForAuto() try: tc.GoToPose(goal_x=2, goal_y=-0.5, goal_theta=0.5 * 3.1415, max_velocity=vel, max_angular_velocity=ang_vel, smart=smart, sigma2=5) tc.Wait(duration=1.0) tc.GoToPose(goal_x=0.8, goal_y=2, goal_theta=3.1415, max_velocity=vel, max_angular_velocity=ang_vel, smart=smart, sigma2=5) tc.Wait(duration=1.0) tc.GoToPose(goal_x=-2, goal_y=2, goal_theta=-0.5 * 3.1415,
# ROS specific imports import roslib; roslib.load_manifest('floor_nav') import rospy from math import * from task_manager_lib.TaskClient import * rospy.init_node('task_client') server_node = rospy.get_param("~server","/task_server") default_period = rospy.get_param("~period",0.05) tc = TaskClient(server_node,default_period) rospy.loginfo("Mission connected to server: " + server_node) scale=2.0 vel=0.5 rospy.loginfo("Waiting for auto ...") tc.WaitForAuto() rospy.loginfo("Ok let us go ...") try: tc.GoToPose(goal_x=-scale,goal_y=-scale,max_velocity=vel, target=pi/2) tc.Wait(duration=1.0) except TaskException, e: rospy.logerr("Exception caught: " + str(e)) if not rospy.core.is_shutdown(): tc.SetManual() rospy.loginfo("Mission completed")