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Ros handler #89

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082ff0f
Moving the robot with ROS/Gazebo works
Jun 9, 2016
d6be6d2
Updated defualts and added ratios where needed.
Jun 27, 2016
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2 changes: 2 additions & 0 deletions src/lib/handlers/ROS/.gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
ltlmop_map.world
*.png
307 changes: 0 additions & 307 deletions src/lib/handlers/ROS/RosActuatorHandler.py
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6 changes: 4 additions & 2 deletions src/lib/handlers/ROS/RosDriveHandler.py
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Expand Up @@ -9,6 +9,7 @@
"""

from math import sin, cos
import sys

import lib.handlers.handlerTemplates as handlerTemplates

Expand All @@ -21,13 +22,14 @@ def __init__(self, executor, shared_data,d=0.6):
"""

try:
self.loco = executor.hsub.getHandlerInstanceByType(handlerTemplates.LocomotionCommanHandler)
self.loco = executor.hsub.getHandlerInstanceByType(handlerTemplates.LocomotionCommandHandler)
self.coordmap = executor.hsub.coordmap_lab2map
except NameError:
print "(DRIVE) Locomotion Command Handler not found."
print >>sys.__stdout__, "(DRIVE) Locomotion Command Handler not found."
exit(-1)

self.d = d

def setVelocity(self, x, y, theta=0, z = 0):
#print "VEL:%f,%f" % tuple(self.coordmap([x, y]))

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