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00018 import rospy
00019 import random
00020 import math
00021 from geometry_msgs.msg import Pose2D
00022 from cob_map_accessibility_analysis.blocked_goal_alternative import BlockedGoalAlternative
00023
00024 if __name__ == "__main__":
00025
00026 rospy.init_node("blocked_goal_alternative_node")
00027 bga = BlockedGoalAlternative()
00028
00029 pose2d = Pose2D()
00030 pose2d.x = random.uniform(-10.0, 10.0)
00031 pose2d.y = random.uniform(-10.0, 10.0)
00032 pose2d.theta = random.uniform(-math.pi, math.pi)
00033
00034 rospy.loginfo("Incoming Nav Goal")
00035 print pose2d
00036
00037 (success, goal) = bga.check_nav_goal(pose2d)
00038 if not success:
00039 (success, goal) = bga.check_perimeter(pose2d)