from math import *
from task_manager_lib.TaskClient import *
rospy.init_node('task_client')
server_node = rospy.get_param("~server", "/task_server")
default_period = rospy.get_param("~period", 0.2)
tc = TaskClient(server_node, default_period)
tc.WaitForAuto()
try:
tc.ActionMoveGoal(goal_x=0,
goal_y=0,
wait_completion=True,
base_link="bubbleRob",
resend_goal=True,
reference_frame="Charger5",
dist_threshold=0.3,
angle_threshold=10,
freq_resend=5.0)
tc.Wait(duration=10.0)
tc.ActionMoveGoal(goal_x=0,
goal_y=0,
wait_completion=True,
base_link="bubbleRob",
resend_goal=True,
reference_frame="Waypoint1",
dist_threshold=0.3,
angle_threshold=10,
freq_resend=5.0)
tc.Wait(duration=5.0)
