def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.move_cmd = linear_move.linear_move() # self.move_cmd = move_in_robot.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() rospy.loginfo("the Move Point_Pro is initial OK!")
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() self.cmd_shovel = control_srv.shovelControlSrv() rospy.loginfo('The Shoot_Adjust is initial ok!!!!')
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.cmd_position = get_robot_position.robot_position_state() self.cmd_turn = turn_an_angular.turn_an_angular() self.cmd_move = linear_move.linear_move() self.cmd_return = go_close_line.move_to_home() rospy.loginfo('The Return is initial ok!!!!')
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.turn_cmd = turn_an_angular.turn_an_angular() self.move_cmd = linear_move.linear_move() self.cmd_position = get_robot_position.robot_position_state()
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() rospy.loginfo('The Shoot_Adjust is initial ok!!!!')
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() rospy.loginfo('the Move To Another Ball 2 is initial OK!')
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move() rospy.loginfo("the Move_To_Three_Point_Line is initial OK!")
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_shovel = control_srv.shovelControlSrv() rospy.loginfo("the Move To Find BAll is initial Ok!")
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed'],input_keys=['ball_x', 'ball_y']) self.move_cmd = linear_move.linear_move() self.move_cmd_low = low_speed_linear_move.low_speed_linear_move()
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move() self.cmd_position = get_robot_position.robot_position_state() self.turn_cmd = turn_an_angular.turn_an_angular()
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed'],output_keys=['ball_x', 'ball_y']) self.move_cmd = linear_move.linear_move() self.move_cmd_low = low_speed_linear_move.low_speed_linear_move() self.cmd_position = get_robot_position.robot_position_state() self.turn_cmd = turn_an_angular.turn_an_angular()
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.move_cmd = linear_move.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular()
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) self.move_cmd = linear_move.linear_move()
def __init__(self): smach.State.__init__(self,outcomes=['successed','failed'],input_keys=['ball_x', 'ball_y']) self.move_cmd = linear_move.linear_move() self.cmd_position = get_robot_position.robot_position_state()
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.move_cmd = linear_move.linear_move() self.cmd_position = get_robot_position.robot_position_state() rospy.loginfo('We are ready to go home!!!')
def __init__(self): smach.State.__init__(self, outcomes=['successed', 'failed']) self.cmd_position = get_robot_position.robot_position_state() self.move_cmd = linear_move.linear_move() self.turn_cmd = turn_an_angular.turn_an_angular() rospy.loginfo("the Move_To_Three_Point_Line is initial OK!")
(current_x,current_y) = self.cmd_position.get_robot_current_x_y() self.cmd_move.move_to(x = 2.5-current_x,y = -2-current_y) # self.cmd_move.move_to(y = -current_y) self.cmd_turn.turn_to(math.pi) self.cmd_return.go_close_line() # self.cmd_move.move_to(x = -2.6) return 'successed' #铲球后调整机器姿态,使其正对传球目标区域中心 class Shoot_Adjust(smach.State): def __init__(self): smach.State.__init__(self,outcomes=['successed','failed']) <<<<<<< HEAD <<<<<<< HEAD self.move_cmd = linear_move.linear_move() ======= self.move_cmd = move_in_robot.linear_move() >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 ======= self.move_cmd = move_in_robot.linear_move() >>>>>>> c23cd36a28263fa7e748e644f0229d201acd5592 self.turn_cmd = turn_an_angular.turn_an_angular() self.cmd_position = get_robot_position.robot_position_state() rospy.loginfo('The Shoot_Adjust is initial ok!!!!') def execute(self, ud): rospy.loginfo('Start Shoot Adjust') <<<<<<< HEAD <<<<<<< HEAD if self.preempt_requested():