def __init__(self, parent=None):
super(CliffSensorFrame, self).__init__(parent)
self._ui = Ui_cliff_sensor_frame()
self._motion = TravelForward('/mobile_base/commands/velocity', '/odom',
'/mobile_base/events/cliff')
self._motion_thread = None
self._distance = 1.2
self._state = CliffSensorFrame.STATE_FORWARD
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
from kobuki_testsuite import TravelForward
# Robot moves forward
if __name__ == '__main__':
rospy.init_node('test_motionforward')
cmdvel_topic = '/mobile_base/commands/velocity'
odom_topic = '/odom'
cliff_topic = '/mobile_base/events/cliff'
travel = TravelForward(cmdvel_topic, odom_topic, cliff_topic)
travel.init(0.05, 1.8)
rospy.loginfo("Start to move forward")
travel.execute()
rospy.loginfo("Stop")
