-navigation stack fixes

[ros_wild_thumper.git] / scripts / square.py

diff --git a/scripts/square.py b/scripts/square.py
new file mode 100755 (executable)
index 0000000..cd73274
--- /dev/null
+++ b/scripts/square.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import rospy
+import tf
+import actionlib
+from math import *
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
+from actionlib_msgs.msg import GoalStatus
+from optparse import OptionParser
+
+
+class Square:
+       def __init__(self):
+               rospy.init_node('umbmark')
+               self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
+               while not self.move_base.wait_for_server(rospy.Duration(5)):
+                       rospy.loginfo("Waiting for the move_base action server to come up")
+
+       def next_pos(self, x, y, angle):
+               odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
+
+               rospy.loginfo("Moving to (%.2f, %2f), %d°.." % (x, y, angle*180/pi))
+
+               goal = MoveBaseGoal()
+               goal.target_pose.header.frame_id = "odom"
+               goal.target_pose.header.stamp = rospy.Time.now()
+               goal.target_pose.pose.position.x = x
+               goal.target_pose.pose.position.y = y
+               goal.target_pose.pose.orientation.x = odom_quat[0]
+               goal.target_pose.pose.orientation.y = odom_quat[1]
+               goal.target_pose.pose.orientation.z = odom_quat[2]
+               goal.target_pose.pose.orientation.w = odom_quat[3]
+               self.move_base.send_goal(goal)
+
+               self.move_base.wait_for_result()
+
+               if self.move_base.get_state() == GoalStatus.SUCCEEDED:
+                       rospy.loginfo("The base moved to (%.2f, %2f), %d°" % (x, y, angle*180/pi))
+               else:
+                       rospy.logerr("The base failed to (%.2f, %2f), %d°" % (x, y, angle*180/pi))
+                       raise
+
+       def run(self, size=1):
+               self.next_pos(0, 0, 0)
+               self.next_pos(size, 0, 0)
+               self.next_pos(size, -size, 0)
+               self.next_pos(0, size, 0)
+
+if __name__ == "__main__":
+       parser = OptionParser()
+       parser.add_option("-l", "--length", dest="length", default=2, help="Square size")
+       (options, args) = parser.parse_args()
+
+       p = Square()
+       p.run(float(options.length))