def recover_commander(self): point = Point() point.x = random.uniform(.0, .9) point.y = .0 point.z = .0 orientation = Navigator.angle_to_quaternion(0) rospy.loginfo("Execution recovery behavior") Navigator.navigate(point, orientation)
def navigate_commander(self): point = Point() point.x = random.random() point.y = .0 point.z = .0 orientation = Navigator.angle_to_quaternion(random.randint(0, 360)) position_delta = Navigator.position_delta(self.last_pose.position, point) orientation_delta = Navigator.orientation_delta(self.last_pose.orientation, orientation) Navigator.navigate(position_delta, orientation_delta)