test_safewandering.py
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00001 #!/usr/bin/env python
00002 import roslib; roslib.load_manifest('kobuki_testsuite')
00003 import rospy
00004 
00005 from kobuki_testsuite import SafeWandering
00006 
00007 if __name__ == '__main__':
00008 
00009     cmdvel_topic = '/mobile_base/commands/velocity'
00010     odom_topic =  '/odom'
00011     bump_topic = '/mobile_base/events/bumper'
00012     cliff_topic = '/mobile_base/events/cliff'
00013     rospy.init_node('safe_wandering')
00014     
00015     wanderer = SafeWandering(cmdvel_topic,odom_topic, bump_topic, cliff_topic)
00016 
00017     rospy.loginfo("Starting to wander")
00018     wanderer.init(0.1,-0.1, 1.65)
00019     wanderer.execute()
00020     rospy.loginfo("Stopping wandering")
00021     wanderer.stop()
00022 


kobuki_testsuite
Author(s): Jorge Santos Simon
autogenerated on Thu Jun 6 2019 17:38:11