walker_demo.py

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#!/usr/bin/env python

import rospy
from darwin_gazebo.darwin import Darwin


if __name__=="__main__":
    rospy.init_node("walker_demo")
    
    rospy.loginfo("Instantiating Darwin Client")
    darwin=Darwin()
    rospy.sleep(1)
 
    rospy.loginfo("Darwin Walker Demo Starting")


    darwin.set_walk_velocity(0.2,0,0)
    rospy.sleep(3)
    darwin.set_walk_velocity(1,0,0)
    rospy.sleep(3)
    darwin.set_walk_velocity(0,1,0)
    rospy.sleep(3)
    darwin.set_walk_velocity(0,-1,0)
    rospy.sleep(3)
    darwin.set_walk_velocity(-1,0,0)
    rospy.sleep(3)
    darwin.set_walk_velocity(1,1,0)
    rospy.sleep(5)
    darwin.set_walk_velocity(0,0,0)
    
    rospy.loginfo("Darwin Walker Demo Finished")