def main():
#--------------------------------------OBSTACLE-SETUP---------------------------------#
obstacles = [(-100, 0), (-90, 0), (-90, 150), (-100, 150),
(100, 0), (90, 0), (90, 150), (100, 150), (40, 50), (-40, 50),
(-40, 80), (40, 80)]
newObstacles = formatObstacles(obstacles)
#---------------------------------------GET-POSITION----------------------------------#
robotPos = (0, 0)
#---------------------------------------HISTORY STUFF---------------------------------#
# Just for printing out at the end
sensedPointsHist = []
path = []
controller = RobotController()
#---------------------------------------ACTION LOOP---------------------------------#
for i in range(1):
# Get action
action = controller.getAction()
path.append(controller.getCurrentPosition())
# Get scan of surroundings every 15 degrees
detectedPoints = getDetectedPoints(controller.getCurrentPosition(),
newObstacles, 15)
controller.updateSurroundings(detectedPoints)
sensedPointsHist += detectedPoints
drawSimulation(obstacles, path, sensedPointsHist)
def main():
controller = RobotController()
controller.updateSurroundings([(10, 180)])
controller.updatePosition(5, 0)
controller.updateVisited([(5, 0)])
print(str(controller.polarToCartesian(1, pi / 2)))
print(controller)
def __init__(self):
# Among other things, this constructor initializes
# logging and preferences.
AbstractRwbGui.__init__(self, NAME, DEFAULT_SETTINGS)
self.wm_geometry("800x600")
self.tally = RobotTally()
self._create_fonts()
self._create_menubar()
self._create_statusbar()
self._create_toolbar()
# self._create_command_line()
self._create_notebook()
self.register(GeneralSettingsFrame)
self._controller = RobotController(self)
self._controller.configure(listeners=(self.console,self.log_tree,
self.log_messages, self.tally,
self))
def follow_me():
rospy.init_node('follow_me')
signal.signal(signal.SIGINT, terminate)
human_pose_topic = rospy.get_param(rospy.get_name()+'/human_pose_topic') #, '/HumanPose'
human_path_topic = rospy.get_param(rospy.get_name()+'/human_pose_topic') #, '/HumanPath'
uav_pose_topic = rospy.get_param(rospy.get_name()+'/uav_pose_topic') #, '/UAV1Pose'
cmd_vel_topic = rospy.get_param(rospy.get_name()+'/cmd_vel_topic') #, '/uav1/mobile_base/commands/velocity'
activation_service = rospy.get_param(rospy.get_name()+'/activation_service') #, '/uav1/follow_me/enable'
follow_distance = rospy.get_param(rospy.get_name()+'/follow_distance') #, 2
##### DEBUGGING ######
# leader_pose_sub = rospy.Subscriber('/uav2/odom', Odometry, leader_pose_cb)
# leader_pose_sub = rospy.Subscriber('/uav1/odom', Odometry, self_pose_cb)
######################
# Logging Parameters
print ("")
global human_pose_sub, human_path_sub, uav_pose_sub, cmd_vel_pub, robot_controller
robot_controller = RobotController(follow_distance, publish_velocity, obstacle_avoidance=True)
human_pose_sub = rospy.Subscriber(human_pose_topic, PoseWithCovarianceStamped, human_pose_cb)
human_path_sub = rospy.Subscriber(human_path_topic, Path, human_path_cb)
uav_pose_sub = rospy.Subscriber(uav_pose_topic, PoseWithCovarianceStamped, uav_pose_cb)
cmd_vel_pub = rospy.Publisher(cmd_vel_topic, Twist, queue_size=1000)
activation_srv = rospy.Service(activation_service, SetBool, set_mode)
print ("UAV Follower Controller: %s" %(uav_pose_topic))
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
# ############################################ # Model learning of two link robot arm # Script for training and testing of model # # Author : Deepak Raina @ IIT Delhi # Version : 0.1 # ############################################ from controller import RobotController # Robot controller controller = RobotController() EPOCHS = 10000 MODEL_FILE_LOC = 'models/trained_nn_model_' + str(EPOCHS) ## Training controller.train(epochs=EPOCHS) ## Testing # controller.test(model_fileloc = MODEL_FILE_LOC, num_test=1)
