Source code for pyrobot.robots.base

from __future__ import print_function

import copy
import importlib
import os
import sys
import threading
import time
from abc import ABCMeta, abstractmethod

import numpy as np
import rospy
import tf
from geometry_msgs.msg import Twist, Pose, PoseStamped
from sensor_msgs.msg import JointState, CameraInfo, Image

import pyrobot.utils.util as prutil

from pyrobot.utils.util import try_cv2_import, append_namespace

cv2 = try_cv2_import()

from cv_bridge import CvBridge, CvBridgeError

import message_filters

import actionlib

from actionlib_msgs.msg import GoalStatus


[docs]class Base(object):
    """
    This is a parent class on which the robot
    specific Base classes would be built.
    """

[docs]    def __init__(self, configs, ns=""):
        """
        The consturctor for Base class.

        :param configs: configurations for base
        :type configs: YACS CfgNode
        """
        self.configs = configs
        self.ns = ns
        self.ctrl_pub = rospy.Publisher(
            append_namespace(self.ns, configs.ROSTOPIC_BASE_COMMAND), 
            Twist, 
            queue_size=1
        )

[docs]    def stop(self):
        """
        Stop the base
        """
        msg = Twist()
        msg.linear.x = 0
        msg.angular.z = 0
        self.ctrl_pub.publish(msg)

[docs]    def set_vel(self, fwd_speed, turn_speed, exe_time=1):
        """
        Set the moving velocity of the base

        :param fwd_speed: forward speed
        :param turn_speed: turning speed
        :param exe_time: execution time
        """
        fwd_speed = min(fwd_speed, self.configs.MAX_ABS_FWD_SPEED)
        fwd_speed = max(fwd_speed, -self.configs.MAX_ABS_FWD_SPEED)
        turn_speed = min(turn_speed, self.configs.MAX_ABS_TURN_SPEED)
        turn_speed = max(turn_speed, -self.configs.MAX_ABS_TURN_SPEED)

        msg = Twist()
        msg.linear.x = fwd_speed
        msg.angular.z = turn_speed

        start_time = rospy.get_time()
        self.ctrl_pub.publish(msg)
        while rospy.get_time() - start_time < exe_time:
            self.ctrl_pub.publish(msg)
            rospy.sleep(1.0 / self.configs.BASE_CONTROL_RATE)
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Source code for pyrobot.robots.base
