def __init__(self, timeout=5.0):
self.timeout = rospy.Duration(timeout)
self.last_msg = None
self.sub = rospy.Subscriber('/keep_alive', Header, self.got_network_msg, queue_size=1)
self.alarm_broadcaster, self.alarm = single_alarm('network_loss', severity=3, problem_description="Network loss")
rospy.Timer(rospy.Duration(0.1), self.check)
def main(navigator):
kill_alarm_broadcaster, kill_alarm = single_alarm('kill', action_required=True, problem_description="Killing wamv to listen to pinger")
df = defer.Deferred().addCallback(head_for_pinger)
df.callback(navigator)
try:
yield txros.util.wrap_timeout(df, 55, cancel_df_on_timeout=True)
except txros.util.TimeoutError:
print "Done heading towards pinger"
def __init__(self, timeout=2.0):
self.timeout = rospy.Duration(timeout)
self.last_time = rospy.Time.now()
self.last_msg = ''
self.sub = rospy.Subscriber('/keep_alive', String, self.got_network_msg, queue_size=1)
self.alarm_broadcaster, self.alarm = single_alarm('network_loss', severity=3, problem_description="Network loss")
rospy.Timer(rospy.Duration(0.1), self.check)
def __init__(self, timeout=0.5):
self.timeout = rospy.Duration(timeout)
self.last_time = rospy.Time.now()
self.last_position = None
self.check_count = 0
self.max_jump = 1.0
self.odom_discontinuity = False
self.killed = False
self.odom_listener = rospy.Subscriber('/odom', Odometry, self.got_odom_msg, queue_size=1)
self.alarm_broadcaster, self.alarm = single_alarm('odom_loss', severity=3,
problem_description="Killing wamv due to unreliable state estimation")
rospy.Timer(rospy.Duration(0.1), self.check)
