#!/usr/bin/python
# ROS specific imports
import roslib
roslib.load_manifest('task_manager_turtlesim')
import rospy
from math import *
from task_manager_lib.TaskClient import *
rospy.init_node('task_client')
server_node = rospy.get_param("~server", "/turtlesim_tasks")
default_period = rospy.get_param("~period", 0.2)
tc = TaskClient(server_node, default_period)
tc.Wait(duration=1.)
for error in [6, 7, 8, 9, 10]:
try:
tc.Fail(iterations=10, error_type=error)
except TaskException, e:
rospy.loginfo("Task fail with error status %d while expecting %d: %s" %
(e.status, error, str(e)))
rospy.loginfo("Mission completed")
from math import *
from task_manager_lib.TaskClient import *
rospy.init_node('task_client')
server_node = rospy.get_param("~server", "/turtlesim_tasks")
default_period = rospy.get_param("~period", 0.2)
tc = TaskClient(server_node, default_period)
wp = [[1., 9., pi / 2, 0, 0, 255], [9., 9., 0., 0, 255, 255],
[9., 1., -pi / 2, 0, 255, 0], [1., 1., -pi, 255, 255, 0]]
while True:
try:
# tc.Wait(duration=0.5)
# Start the wait for roi task in the background
w4roi = tc.Fail(foreground=False, iterations=0, error_type=4)
# Prepare a condition so that the following gets executed only until the
# Region of Interest is found
tc.addCondition(ConditionIsCompleted("ROI detector", tc, w4roi))
tc.SetPen(on=False)
w4wait = tc.Wait(foreground=False, duration=5.0)
tc.addCondition(ConditionIsCompleted("Wait detector", tc, w4wait))
for p in wp:
tc.Wait(duration=1.0)
# Clear the conditions if we reach this point
tc.clearConditions()
except TaskConditionException, e:
rospy.loginfo("Path following interrupted on condition: %s" % \
" or ".join([str(c) for c in e.conditions]))
# This means the conditions were triggered. We need to react to it
