def __init__(self): rospy.init_node('mission_control') self.hmi = wii_interface.WiiInterface() self.hmi.register_callback_button_A(self.onButtonA) self.hmi.register_callback_button_up(self.onButtonUp) self.hmi.register_callback_button_down(self.onButtonDown) self.client = actionlib.SimpleActionClient( 'kongskilde_row_cleaner/move_tool', move_tool_simpleAction) self.goal = move_tool_simpleGoal() self.implement_state = 0
def __init__(self): rospy.init_node('mission_control') rospy.loginfo("mission control initialized") self.odom_topic = rospy.get_param("~odom_topic",'/odom') self.odom_sub = rospy.Subscriber(self.odom_topic, Odometry, self.onOdometry ) self.hmi = wii_interface.WiiInterface() rospy.loginfo("Registering save point callback") self.hmi.register_callback_button_A(self.savePoint) self.point_list = [Point(588787.7447,6137275.3330,0),Point(588795.7513,6137275.1412,0),Point(588795.9340,6137283.1338,0),Point(588787.9458,6137283.3454,0),Point(588788.1267,6137291.3197,0),Point(588796.1145,6137291.1133,0)] self.latest_point = Point() self.save_time = rospy.Time.now() self.min_time_between_point_save = rospy.Duration(3) # No magic numbers...
def __init__(self): rospy.init_node('mission_control') rospy.loginfo("mission control initialized") self.odom_topic = rospy.get_param("~odom_topic",'/odom') self.odom_sub = rospy.Subscriber(self.odom_topic, Odometry, self.onOdometry ) self.hmi = wii_interface.WiiInterface() rospy.loginfo("Registering save point callback") self.hmi.register_callback_button_A(self.savePoint) self.point_list = [Point(1,-1,0),Point(5,-1,0),Point(5,-3,0),Point(1,-3,0)] self.latest_point = Point() self.save_time = rospy.Time.now() self.min_time_between_point_save = rospy.Duration(3) # No magic numbers...
def start(self): rospy.init_node("field_mission") self.hmi = wii_interface.WiiInterface() self.hmi.register_callback_button_home(self.on_home) print "waiting for service" self.calibrate = rospy.ServiceProxy('/calibrate_throttle', Empty) rospy.wait_for_service(self.calibrate) print "got service" try: self.sm = self.build() self.intro_server = smach_ros.IntrospectionServer( 'field_mission', self.sm, '/FIELDMISSION') self.intro_server.start() self.smach_thread = threading.Thread(target=self.sm.execute) self.smach_thread.start() except Exception as e: print e raise Exception("Could not start ")
def __init__(self): rospy.init_node('mission_control') rospy.loginfo("mission control initialized") self.hmi = wii_interface.WiiInterface() self.hmi.register_callback_button_A(self.onButtonA)
def __init__(self): rospy.init_node('mission_control') self.hmi = wii_interface.WiiInterface() self.hmi.register_callback_button_A(self.onButtonA)
def __init__(self): rospy.init_node('mission_control') self.hmi = wii_interface.WiiInterface()
# # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE # DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY # DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #****************************************************************************/ import rospy from wii_interface import wii_interface """ Test node for wiimote """ if __name__ == '__main__': try: rospy.init_node('mission_control') hmi = wii_interface.WiiInterface() r = rospy.Rate(10) while not rospy.is_shutdown(): hmi.publishDeadman() hmi.publishFeedback() hmi.publishCmdVel() # Spin r.sleep() rospy.spin() except rospy.ROSInterruptException: pass