Go to the documentation of this file.00001
00002 import roslib; roslib.load_manifest('multi_resource_handler')
00003 import rospy
00004 from demo_msgs.msg import *
00005 from geometry_msgs.msg import Twist
00006
00007 class Turtle(object):
00008
00009 def __init__(self,name,status):
00010 self.name = name
00011 self.status = status
00012 self.wait = False
00013
00014 self.pub = {}
00015 self.pub['request_move_turtle'] = rospy.Publisher(self.name+'/request_move',RequestMoveRobot)
00016
00017 self.sub = {}
00018 self.sub['response_move_turtle'] = rospy.Subscriber(self.name + '/response_move',ResponseMoveRobot,self.process_response_move_robot)
00019
00020
00021 def set_task(self,id):
00022 self.task_id = id
00023 self.status = True
00024
00025 def goto(self,loc):
00026 rmr = RequestMoveRobot()
00027 rmr.task_id = self.task_id
00028 rmr.pose.position.x = loc[0]
00029 rmr.pose.position.y = loc[1]
00030 rmr.pose.position.z = 0
00031 rmr.pose.orientation.x = 0
00032 rmr.pose.orientation.y = 0
00033 rmr.pose.orientation.z = 0
00034 rmr.pose.orientation.w = 1
00035
00036 self.pub['request_move_turtle'].publish(rmr)
00037
00038 self.wait = True
00039 while not rospy.is_shutdown() and self.wait == True:
00040 rospy.sleep(0.2)
00041
00042 def process_response_move_robot(self,msg):
00043 self.wait = False
00044
00045 def release(self):
00046 self.task_id = None
00047 self.status = False
