darwin_gazebo: walker_demo.py Source File

Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 from darwin_gazebo.darwin import Darwin
00005 
00006 
00007 if __name__=="__main__":
00008     rospy.init_node("walker_demo")
00009     
00010     rospy.loginfo("Instantiating Darwin Client")
00011     darwin=Darwin()
00012     rospy.sleep(1)
00013  
00014     rospy.loginfo("Darwin Walker Demo Starting")
00015 
00016 
00017     darwin.set_walk_velocity(0.2,0,0)
00018     rospy.sleep(3)
00019     darwin.set_walk_velocity(1,0,0)
00020     rospy.sleep(3)
00021     darwin.set_walk_velocity(0,1,0)
00022     rospy.sleep(3)
00023     darwin.set_walk_velocity(0,-1,0)
00024     rospy.sleep(3)
00025     darwin.set_walk_velocity(-1,0,0)
00026     rospy.sleep(3)
00027     darwin.set_walk_velocity(1,1,0)
00028     rospy.sleep(5)
00029     darwin.set_walk_velocity(0,0,0)
00030     
00031     rospy.loginfo("Darwin Walker Demo Finished")