def goal_cb(userdata, goal_in): goal = EllipsoidMoveGoal() goal.change_height = userdata.goal_pose[0][2] goal.absolute_height = True goal.gripper_rot = gripper_rot goal.duration = duration return goal
def get_ell_move_height(height, duration, gripper_rot): goal = EllipsoidMoveGoal() goal.change_height = height goal.absolute_height = True goal.gripper_rot = gripper_rot goal.duration = duration return smach_ros.SimpleActionState('ellipsoid_move', EllipsoidMoveAction, goal=goal)
def goal_cb(userdata, goal_in): goal = EllipsoidMoveGoal() lat, lon, height = userdata.goal_pose[0] goal.change_latitude = lat goal.change_longitude = lon goal.change_height = retreat_height goal.gripper_rot = gripper_rot goal.absolute_latitude = True goal.absolute_longitude = True goal.absolute_height = True goal.duration = duration return goal