00001 #!/usr/bin/env python 00002 # coding=utf-8 00003 00004 __author__ = 'Minglong Li' 00005 00006 from robot_patrol import RobotPatrol 00007 00008 class RobotPatrolArea0(RobotPatrol): 00009 def __init__(self, topic = None, node_name = None): 00010 self.pose_0 = [0.95, 6.0, 0.0, 1.0] 00011 self.pose_1 = [2.57, 6.05, 0.706, 0.709] 00012 self.pose_2 = [2.46, 8.81, 1.0, 0.0] 00013 self.pose_3 = [0.95, 8.88, -0.707, 0.707] 00014 if node_name is None: 00015 node_name = 'robot_patrol_area_0' 00016 if topic is None: 00017 topic = 'robot_0/move_base' 00018 self._node_name = node_name 00019 self._topic = topic 00020 RobotPatrol.__init__(self, node_name = self._node_name, pose_0 = self.pose_0, pose_1 = self.pose_1, pose_2 = self.pose_2, pose_3 = self.pose_3, topic = self._topic, wait_time = 10.0) 00021 00022 def run(self): 00023 RobotPatrol.start_patrol(self) 00024 00025 def cancel_all_goals(self): 00026 self.cancel_goal()