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KobukiFunctions.py
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import rospy
from std_msgs.msg import String
from sensor_msgs.msg import Range
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist
from kobuki_msgs.msg import MotorPower
global velocity_publisher
velocity_publisher = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size=10)
global cmd
cmd = Twist()
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 0.0
global distanceLeft, distanceCenter, distanceRight
distanceCenter=0
distanceLeft=0
distanceRight=0
################################# Kobuki movement functions
def kobuki_move_forward():
cmd.linear.x = 0.40
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 0.0
#print("Sensors:", sensors)
safe=True
if(safe):
if(distanceCenter>40):
if(distanceLeft>40 and distanceRight>40):
velocity_publisher.publish(cmd)
if (distanceCenter > 40):
if (distanceLeft > 40 and distanceRight > 40):
velocity_publisher.publish(cmd)
if (distanceCenter > 40):
if (distanceLeft > 40 and distanceRight > 40):
velocity_publisher.publish(cmd)
else:
velocity_publisher.publish(cmd)
velocity_publisher.publish(cmd)
velocity_publisher.publish(cmd)
return True
def kobuki_turn_left():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 1.0
velocity_publisher.publish(cmd)
return True
def kobuki_turn_right():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = -1.0
velocity_publisher.publish(cmd)
return True
def kobuki_turn_left_slow():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 0.6
velocity_publisher.publish(cmd)
return True
def kobuki_turn_right_slow():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = -0.6
velocity_publisher.publish(cmd)
return True
def kobuki_turn_left_fast():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 2.6
velocity_publisher.publish(cmd)
return True
def kobuki_turn_right_fast():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = -2.6
velocity_publisher.publish(cmd)
return True
def kobuki_rotate_right_180():
cmd.linear.x = 0.0
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = -5.0
velocity_publisher.publish(cmd)
return True
def kobuki_move_forward_slow():
cmd.linear.x = 0.25
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 0.0
velocity_publisher.publish(cmd)
return True
def kobuki_move_backward():
cmd.linear.x = -0.5
cmd.linear.y = 0.0
cmd.linear.z = 0.0
cmd.angular.x = 0.0
cmd.angular.y = 0.0
cmd.angular.z = 0.0
velocity_publisher.publish(cmd)
return True
def move_turtle_bot(turtlebot_action, dC, dL, dR):
global distanceLeft, distanceCenter, distanceRight
distanceCenter = dC
distanceLeft = dL
distanceRight = dR
if (turtlebot_action== 0):
kobuki_move_forward()
if(turtlebot_action== 1):
kobuki_turn_left_slow()
if (turtlebot_action == 2):
kobuki_turn_right_slow()
if(turtlebot_action == 3):
kobuki_turn_left_fast()
if (turtlebot_action == 4):
kobuki_turn_right_fast()
return 0