server_node = rospy.get_param("~server", "/task_server")
default_period = rospy.get_param("~period", 0.05)
tc = TaskClient(server_node, default_period)
rospy.loginfo("Mission connected to server: " + server_node)
scale = 1.5
vel = 1
angle = 1.5
tc.WaitForAuto()
try:
tc.GoToPose(goal_x=3,
goal_y=3,
max_velocity=vel,
goal_angle=1,
dumbSmart=False,
k_v=3,
k_alpha=8,
k_gamma=-1.5,
Holonomic=True)
tc.Wait(duration=1.0)
# tc.GoToPose(goal_x=scale,goal_y=-scale,max_velocity=0.5,goal_angle=0,dumbSmart=False,k_v=3,k_alpha=8,k_gamma=-1.5,Holonomic=True)
# tc.Wait(duration=1.0)
# tc.GoToPose(goal_x=-scale,goal_y=scale,max_velocity=0.5,goal_angle=3,dumbSmart=False,k_v=3,k_alpha=8,k_gamma=-1.5,Holonomic=True)
# tc.Wait(duration=1.0)
#tc.GoToPose(goal_x=-scale,goal_y=scale,max_velocity=vel,goal_angle=0,dumbSmart=True,k_v=3,k_alpha=8,k_gamma=-0.5)
#tc.Wait(duration=1.0)
from task_manager_lib.TaskClient import *
import math
rospy.init_node('task_client')
server_node = rospy.get_param("~server", "/task_server")
default_period = rospy.get_param("~period", 0.05)
tc = TaskClient(server_node, default_period)
rospy.loginfo("Mission connected to server: " + server_node)
scale = 2.0
vel = 0.5
tc.WaitForAuto()
try:
tc.GoToPose(goal_x=-0.5,
goal_y=-0.5,
goal_angle=190,
smart_mode=True,
relative=True,
max_velocity=0.5,
angle_error=6. * math.pi / 180.)
except TaskException, e:
rospy.logerr("Exception caught: " + str(e))
if not rospy.core.is_shutdown():
tc.SetManual()
rospy.loginfo("Mission completed GotoPose")
rospy.init_node('task_client')
server_node = rospy.get_param("~server", "/task_server")
default_period = rospy.get_param("~period", 0.05)
tc = TaskClient(server_node, default_period)
rospy.loginfo("Mission connected to server: " + server_node)
smart = True
vel = 0.5
ang_vel = 3
tc.WaitForAuto()
try:
tc.GoToPose(goal_x=2,
goal_y=-0.5,
goal_theta=0.5 * 3.1415,
max_velocity=vel,
max_angular_velocity=ang_vel,
smart=smart,
sigma2=5)
tc.Wait(duration=1.0)
tc.GoToPose(goal_x=0.8,
goal_y=2,
goal_theta=3.1415,
max_velocity=vel,
max_angular_velocity=ang_vel,
smart=smart,
sigma2=5)
tc.Wait(duration=1.0)
tc.GoToPose(goal_x=-2,
goal_y=2,
goal_theta=-0.5 * 3.1415,
# ROS specific imports
import roslib; roslib.load_manifest('floor_nav')
import rospy
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",0.05)
tc = TaskClient(server_node,default_period)
rospy.loginfo("Mission connected to server: " + server_node)
scale=2.0
vel=0.5
rospy.loginfo("Waiting for auto ...")
tc.WaitForAuto()
rospy.loginfo("Ok let us go ...")
try:
tc.GoToPose(goal_x=-scale,goal_y=-scale,max_velocity=vel, target=pi/2)
tc.Wait(duration=1.0)
except TaskException, e:
rospy.logerr("Exception caught: " + str(e))
if not rospy.core.is_shutdown():
tc.SetManual()
rospy.loginfo("Mission completed")
