def path(start, goal, map): pth = a_patrick(start, goal, map) print str(len(pth)) r = rospy.Rate(RATE) for p in pth: print str(p) last = start for p in pth: print 'moving from ' + str(last) + ' to ' + str(p) move_to(last, p) last = p r.sleep()
def run(self):
# save odom position (Odom or TF Module)
# self.generate_random_points()
NUM_DIRECTIONS = 8
self.particle_filter.gen_init_particles()
# # Get lidar readings in x directions
# robo_pts = self.get_x_directions(NUM_DIRECTIONS)
# # For each particle compare lidar scan with map
# self.particle_filter.compare_points(robo_pts)
#
# # Publish best guessself.particle_filter.gen_init_particles()
# self.particle_filter.publish_top_particle(self.topparticle_pub)
#
# # Resample particles
# self.particle_filter.resample_particles()
#
# # Publish cloud
# self.particle_filter.publish_particle_cloud(self.particle_pub)
r = rospy.Rate(5)
while not (rospy.is_shutdown()):
self.particle_filter.gauge_particle_position()
if (self.odom_changed):
print("Odom changed, let's do some stuff")
# Get lidar readings in x directions
robo_pts = self.get_x_directions(NUM_DIRECTIONS)
# Update particle poses
self.particle_filter.update_all_particles(self.diff_transform)
# Display new markers
self.particle_filter.draw_markerArray()
# For each particle compare lidar scan with map
self.particle_filter.compare_points(robo_pts)
# Publish best guess self.particle_filter.gen_init_particles()
top_particle_pose = self.particle_filter.publish_top_particle()
self.tfHelper.fix_map_to_odom_transform(
top_particle_pose, rospy.Time(0)) # TODO: Move?
# Resample particles
self.particle_filter.resample_particles()
# Publish cloud
self.particle_filter.publish_particle_cloud()
# Wait until robot moves enough again
self.odom_changed = False
self.tfHelper.send_last_map_to_odom_transform()
r.sleep()
def move_W(pos): """Wrapper function to make the robot move one cell west Keyword arguments: pos -- the robot's current Position """ for motor in MOTORS: setMotorTargetSpeed(motor, 400) r = rospy.Rate(RATE) for i in range(5): walk(DIRECTION.West) r.sleep() pos.decr_x()
def move_to(c_pos, g_pos):
d = get_direction(c_pos, g_pos)
r = rospy.Rate(RATE)
if abs(g_pos.x - c_pos.x) > 1 or abs(g_pos.y - g_pos.y) > 1:
if g_pos.x - c_pos.x > 1:
while c_pos != g_pos:
move_S(c_pos)
r.sleep
elif g_pos.y - c_pos.y > 1:
while c_pos != g_pos:
move_E(c_pos)
r.sleep()
elif g_pos.x - c_pos.x < 0:
while c_pos != g_pos:
move_N(c_pos)
r.sleep()
else:
while c_pos != g_pos:
move_W(c_pos)
r.sleep()
else:
if d == DIRECTION.North:
move_N(c_pos)
elif d == DIRECTION.South:
move_S(c_pos)
elif d == DIRECTION.East:
move_E(c_pos)
elif d == DIRECTION.West:
move_W(c_pos)
else:
print 'move_to(',str(c_pos),', ',str(g_pos),'): Invalid direction :('
(translation, rotation) = \
self.transform_helper.convert_pose_inverse_transform(self.robot_pose)
pose = PoseStamped(
pose=self.transform_helper.convert_translation_rotation_to_pose(
translation, rotation),
header=Header(stamp=msg.header.stamp, frame_id=self.base_frame))
self.tf_listener.waitForTransform(self.base_frame,
self.odom_frame, msg.header.stamp,
rospy.Duration(1.0))
self.odom_to_map = self.tf_listener.transformPose(
self.odom_frame, pose)
(self.translation,
self.rotation) = self.transform_helper.convert_pose_inverse_transform(
self.odom_to_map.pose)
def send_last_map_to_odom_transform(self):
if not (hasattr(self, 'translation') and hasattr(self, 'rotation')):
print("sup dude")
return
self.tf_broadcaster.sendTransform(self.translation, self.rotation,
rospy.get_rostime(), 'odom', 'map')
if __name__ == '__main__':
n = RobotLocalizer()
r = rospy.Rate(5)
while not (rospy.is_shutdown()):
n.send_last_map_to_odom_transform()
r.sleep()
import json,pprint,os,requests,time,random
from bs4 import BeautifulSoup
if os.path.exists("flipkart.json"):
with open("flipkart.json","r") as g:
k=json.load(g)
# k=json.loads(k)
h=k
else:
h=[]
for i in range(1,22):
print(i)
a=requests.get("https://www.flipkart.com/search?p%5B%5D=facets.brand%255B%255D%3DSamsung&sid=tyy%2F4io&sort=recency_desc&wid=1.productCard.PMU_V2_"+str(i))
time.sleep(random.sleep(60))
soup=BeautifulSoup(a.text,"lxml")
if soup.findAll("div",class_="_1UoZlX")!=None:
b=soup.findAll("div",class_="_1UoZlX")
for c in b:
g={}
if c.find("div", class_="_3wU53n")!=None:
g["Mobile"]=c.find("div", class_="_3wU53n").text
else:
raise("Network problem or UNABLE TO FIND DATA ")
if c.findAll("li",class_="tVe95H")!=None:
e=c.findAll("li",class_="tVe95H")
else:
raise("Network problem or UNABLE TO FIND DATA ")
if c.find("div",class_="_1vC4OE _2rQ-NK")!=None:
g["Price"]=c.find("div",class_="_1vC4OE _2rQ-NK").getText()
