From e3d4c9ce3a37060cbb1fd917e2706e9ff812d4a5 Mon Sep 17 00:00:00 2001 From: light5551 Date: Tue, 6 Apr 2021 16:02:12 +0300 Subject: [PATCH] turn --- .../apriltag/src/apriltag_postprocessing_node.py | 2 +- .../navigation/src/random_april_tag_turns_node.py | 15 ++++++++++++++- 2 files changed, 15 insertions(+), 2 deletions(-) diff --git a/packages/dt-core/packages/apriltag/src/apriltag_postprocessing_node.py b/packages/dt-core/packages/apriltag/src/apriltag_postprocessing_node.py index 89da7ce3..73e3d98a 100644 --- a/packages/dt-core/packages/apriltag/src/apriltag_postprocessing_node.py +++ b/packages/dt-core/packages/apriltag/src/apriltag_postprocessing_node.py @@ -116,7 +116,7 @@ def setupParam(self, param_name, default_value=rospy.client._Unspecified): def fake_tag(self): try: r = requests.get(f"http://autolab-control-center.local:8080/v1/duckiebot/{os.uname()[1]}/position").json() - intersection_id = str(r["data"]["intersectionId"]) + intersection_id = str(r["data"]["atDirection"]) except Exception as e: print("error") tags_msg = AprilTagDetectionArray() diff --git a/packages/dt-core/packages/navigation/src/random_april_tag_turns_node.py b/packages/dt-core/packages/navigation/src/random_april_tag_turns_node.py index 7156ef80..5fd3d9b3 100644 --- a/packages/dt-core/packages/navigation/src/random_april_tag_turns_node.py +++ b/packages/dt-core/packages/navigation/src/random_april_tag_turns_node.py @@ -101,7 +101,20 @@ def on_shutdown(self): rospy.loginfo(f"[{self.node_name}] Shutting down.") def get_chosen_turn(self): # stub - return 0 + r = requests.get(f"http://autolab-control-center.local:8080/v1/duckiebot/{os.uname()[1]}/position").json() + turn_side = str(r["data"]["atDirection"]) + d = { + "north": 1, + "south": 1, + "east": 0, + "west": 2 + } + turn_id = 1 + try: + turn_id = d[turn_side] + except: + pass + return turn_id def get_intersection_id(self): try: