localtz = tzlocal() #the timezone changed to CET for soem reason start = time(7,30, tzinfo=localtz) end = time(21,00, tzinfo=localtz) # how long to stand idle before doing something idle_duration=rospy.Duration(20) routine = RobotRoutine(daily_start=start, daily_end=end, idle_duration=idle_duration) wait_wps = ['WayPoint3', 'WayPoint4', 'WayPoint5', 'WayPoint9']#, 'ChargingPoint']#, 'WayPoint13']#, 'WayPoint12'] wait_tasks = map(create_wait_task, wait_wps) metric_wps=['WayPoint13', 'WayPoint18', 'WayPoint9'] metric_tasks=map(create_wait_task, metric_wps) # set tasks and start execution routine.create_task_routine(wait_tasks, repeat_delta=timedelta(seconds=(15 * 60))) routine.create_task_routine(metric_tasks, repeat_delta=timedelta(seconds=(60 * 60))) routine.runner.add_day_off('Saturday') routine.runner.add_day_off('Sunday') routine.start_routine() rospy.spin()