Revision 3877047d
| client/cpp/examples/random_gaze/main.cpp | ||
|---|---|---|
| 58 | 58 |
gaze.vergence = 0.0; |
| 59 | 59 |
|
| 60 | 60 |
//absolute mode |
| 61 |
gaze.gaze_type = RobotGaze::ABSOLUTE; |
|
| 62 |
gaze.timestamp = RobotGaze::now();
|
|
| 61 |
gaze.gaze_type = RobotGaze::ABSOLUTE;
|
|
| 62 |
gaze.gaze_timestamp = RobotTimestamp::now();
|
|
| 63 | 63 |
|
| 64 | 64 |
//robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY)); |
| 65 | 65 |
|
| client/cpp/include/RobotGaze.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#pragma once |
| 30 | 30 |
#include <time.h> |
| 31 |
#include "RobotTimestamp.h" |
|
| 31 | 32 |
|
| 32 | 33 |
class RobotGaze{
|
| 33 | 34 |
public: |
| 34 |
RobotGaze(){
|
|
| 35 |
RobotGaze() : gaze_timestamp() {
|
|
| 35 | 36 |
pan = 0.0; |
| 36 | 37 |
tilt = 0.0; |
| 37 | 38 |
roll = 0.0; |
| ... | ... | |
| 41 | 42 |
gaze_type = ABSOLUTE; |
| 42 | 43 |
} |
| 43 | 44 |
|
| 44 |
static double now(){
|
|
| 45 |
/*static double now(){
|
|
| 45 | 46 |
//fetch time |
| 46 | 47 |
struct timespec tp; |
| 47 | 48 |
clock_gettime(CLOCK_REALTIME, &tp); |
| 48 | 49 |
return tp.tv_sec+tp.tv_nsec/1000000000.0; |
| 49 |
}; |
|
| 50 |
};*/
|
|
| 50 | 51 |
|
| 51 | 52 |
enum {
|
| 52 | 53 |
RELATIVE = 0, |
| 53 | 54 |
ABSOLUTE = 1 |
| 54 | 55 |
}; |
| 55 | 56 |
|
| 56 |
double timestamp; |
|
| 57 |
|
|
| 57 |
RobotTimestamp gaze_timestamp; |
|
| 58 | 58 |
int gaze_type; |
| 59 | 59 |
|
| 60 | 60 |
float pan, tilt, roll, vergence; |
| client/cpp/src/MiddlewareROS.cpp | ||
|---|---|---|
| 154 | 154 |
goal.pan_offset = target.pan_offset; |
| 155 | 155 |
|
| 156 | 156 |
//timestamp: |
| 157 |
goal.timestamp = ros::Time(target.timestamp); |
|
| 157 |
goal.gaze_timestamp.sec = target.gaze_timestamp.sec; |
|
| 158 |
goal.gaze_timestamp.nsec = target.gaze_timestamp.nsec; |
|
| 158 | 159 |
|
| 159 | 160 |
if (target.gaze_type == RobotGaze::ABSOLUTE){
|
| 160 | 161 |
goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE; |
| client/cpp/src/MiddlewareRSB.cpp | ||
|---|---|---|
| 40 | 40 |
#include <boost/algorithm/string.hpp> |
| 41 | 41 |
#include <boost/range/algorithm_ext/erase.hpp> |
| 42 | 42 |
|
| 43 |
WARNING: RSB interface might be deprtecated and needs some backporting |
|
| 44 |
from the ROS code. [todo] |
|
| 45 |
|
|
| 43 | 46 |
using namespace std; |
| 44 | 47 |
using namespace rsb; |
| 45 | 48 |
using namespace rsb::patterns; |
| client/python/CMakeLists.txt | ||
|---|---|---|
| 6 | 6 |
|
| 7 | 7 |
find_program(PYTHON "python") |
| 8 | 8 |
|
| 9 |
#HACK for qtcreator ide integration. do not remove! |
|
| 10 |
file(GLOB_RECURSE HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.py)
|
|
| 11 |
add_custom_target(python_sources SOURCES ${HEADER_LIST})
|
|
| 12 |
|
|
| 9 | 13 |
if (PYTHON) |
| 10 | 14 |
set(SETUP_PY "${CMAKE_CURRENT_SOURCE_DIR}/setup.py")
|
| 11 | 15 |
set(OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/build")
|
| client/python/hlrc_client/Middleware.py | ||
|---|---|---|
| 33 | 33 |
from RobotAnimation import * |
| 34 | 34 |
|
| 35 | 35 |
class Middleware: |
| 36 |
#######################################################################
|
|
| 37 |
def __init__(self, scope, loglevel=logging.WARNING):
|
|
| 38 |
"""initialise
|
|
| 39 |
:param scope: base scope we want to listen on
|
|
| 40 |
"""
|
|
| 41 |
self.base_scope = scope
|
|
| 42 |
|
|
| 43 |
self.logger = logging.getLogger(__name__)
|
|
| 44 |
|
|
| 45 |
# create nice and actually usable formatter and add it to the handler
|
|
| 46 |
self.config_logger(loglevel)
|
|
| 47 |
|
|
| 48 |
#initialise defaults
|
|
| 49 |
self.default_emotion = RobotEmotion()
|
|
| 50 |
self.current_emotion = RobotEmotion()
|
|
| 51 |
self.gaze_target = RobotGaze()
|
|
| 52 |
self.mouth_target = RobotMouth()
|
|
| 53 |
self.robot_animation = RobotAnimation()
|
|
| 54 |
|
|
| 36 |
#######################################################################
|
|
| 37 |
def __init__(self, scope, loglevel=logging.WARNING):
|
|
| 38 |
"""initialise |
|
| 39 |
:param scope: base scope we want to listen on
|
|
| 40 |
""" |
|
| 41 |
self.base_scope = scope |
|
| 42 |
|
|
| 43 |
self.logger = logging.getLogger(__name__) |
|
| 44 |
|
|
| 45 |
# create nice and actually usable formatter and add it to the handler |
|
| 46 |
self.config_logger(loglevel) |
|
| 47 |
|
|
| 48 |
#initialise defaults |
|
| 49 |
self.default_emotion = RobotEmotion() |
|
| 50 |
self.current_emotion = RobotEmotion() |
|
| 51 |
self.gaze_target = RobotGaze() |
|
| 52 |
self.mouth_target = RobotMouth() |
|
| 53 |
self.robot_animation = RobotAnimation() |
|
| 54 |
|
|
| 55 | 55 |
def __del__(self): |
| 56 |
"""destructor
|
|
| 57 |
"""
|
|
| 58 |
self.logger.debug("destructor of Middleware called")
|
|
| 59 |
|
|
| 60 |
def config_logger(self, level): |
|
| 56 |
"""destructor
|
|
| 57 |
"""
|
|
| 58 |
self.logger.debug("destructor of Middleware called")
|
|
| 59 |
|
|
| 60 |
def config_logger(self, level):
|
|
| 61 | 61 |
formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')
|
| 62 | 62 |
ch = logging.StreamHandler() |
| 63 | 63 |
#ch.setLevel(level) |
| 64 | 64 |
ch.setFormatter(formatter) |
| 65 | 65 |
self.logger.setLevel(level) |
| 66 | 66 |
self.logger.addHandler(ch) |
| 67 |
|
|
| 68 |
####################################################################### |
|
| 69 |
#abstract/virtual functions |
|
| 70 |
def die_virtual(self, funcname): |
|
| 71 |
raise NotImplementedError(funcname + "() is virtual, must be overwritten") |
|
| 72 |
|
|
| 73 |
def init_middleware(self): |
|
| 74 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 75 |
|
|
| 76 |
def publish_default_emotion(self, emotion, blocking): |
|
| 77 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 78 |
|
|
| 79 |
def publish_current_emotion(self, emotion, blocking): |
|
| 80 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 81 |
|
|
| 82 |
def publish_gaze_target(self, gaze, blocking): |
|
| 83 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 84 |
|
|
| 85 |
def publish_mouth_target(self, mouth, blocking): |
|
| 86 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 87 |
|
|
| 88 |
def publish_head_animation(self, animation, blocking): |
|
| 89 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 90 |
|
|
| 91 |
def publish_speech(self, text, blocking): |
|
| 92 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 93 |
|
|
| 94 |
####################################################################### |
|
| 95 |
#finally some implemented functions |
|
| 96 |
def set_default_emotion(self, emotion, blocking): |
|
| 97 |
"""set the default emotion |
|
| 98 |
:param emotion: RobotEmotion to set |
|
| 99 |
:param blocking: True if this call should block until execution finished on robot |
|
| 100 |
""" |
|
| 101 |
self.default_emotion = emotion |
|
| 102 |
self.publish_default_emotion(emotion, blocking) |
|
| 103 |
|
|
| 104 |
def set_current_emotion(self, emotion, blocking): |
|
| 105 |
"""set a temporary emotion (duration: see emotion.time_ms) |
|
| 106 |
:param emotion: RobotEmotion to set temporarily |
|
| 107 |
:param blocking: True if this call should block until execution finished on robot |
|
| 108 |
""" |
|
| 109 |
self.current_emotion = emotion |
|
| 110 |
self.publish_current_emotion(emotion, blocking) |
|
| 111 |
|
|
| 112 |
def set_head_animation(self, animation, blocking): |
|
| 113 |
"""trigger a head animation |
|
| 114 |
:param animation: RobotAnimation to set |
|
| 115 |
:param blocking: True if this call should block until execution finished on robot |
|
| 116 |
""" |
|
| 117 |
self.animation = animation |
|
| 118 |
self.publish_head_animation(animation, blocking) |
|
| 119 |
|
|
| 120 |
def set_mouth_target(self, mouth, blocking): |
|
| 121 |
"""set a mouth target |
|
| 122 |
:param mouth: RobotMouth to set |
|
| 123 |
:param blocking: True if this call should block until execution finished on robot |
|
| 124 |
""" |
|
| 125 |
self.mouth_target = mouth |
|
| 126 |
self.publish_mouth_target(mouth, blocking) |
|
| 127 |
|
|
| 128 |
def set_speak(self, text, blocking): |
|
| 129 |
"""trigger a tts speech output |
|
| 130 |
:param text: text to synthesize and speak |
|
| 131 |
:param blocking: True if this call should block until execution finished on robot |
|
| 132 |
""" |
|
| 133 |
self.publish_speech(text, blocking) |
|
| 134 |
|
|
| 135 |
def set_gaze_target(self, gaze, blocking): |
|
| 136 |
"""set a new gaze |
|
| 137 |
:param gaze: RobotGaze to set |
|
| 138 |
:param blocking: True if this call should block until execution finished on robot |
|
| 139 |
""" |
|
| 140 |
self.gaze_target = gaze |
|
| 141 |
self.publish_gaze_target(gaze, blocking) |
|
| 142 |
|
|
| 143 |
####################################################################### |
|
| 144 |
#some get methods |
|
| 145 |
#def get_current_emotion(self): |
|
| 146 |
# return self.current_emotion |
|
| 147 |
# |
|
| 148 |
#def get_default_emotion(self): |
|
| 149 |
# return self.default_emotion |
|
| 150 |
# |
|
| 67 |
|
|
| 68 |
####################################################################### |
|
| 69 |
#abstract/virtual functions |
|
| 70 |
def die_virtual(self, funcname): |
|
| 71 |
raise NotImplementedError(funcname + "() is virtual, must be overwritten") |
|
| 72 |
|
|
| 73 |
def init_middleware(self): |
|
| 74 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 75 |
|
|
| 76 |
def publish_default_emotion(self, emotion, blocking): |
|
| 77 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 78 |
|
|
| 79 |
def publish_current_emotion(self, emotion, blocking): |
|
| 80 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 81 |
|
|
| 82 |
def publish_gaze_target(self, gaze, blocking): |
|
| 83 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 84 |
|
|
| 85 |
def publish_mouth_target(self, mouth, blocking): |
|
| 86 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 87 |
|
|
| 88 |
def publish_head_animation(self, animation, blocking): |
|
| 89 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 90 |
|
|
| 91 |
def publish_speech(self, text, blocking): |
|
| 92 |
self.die_virtual(sys._getframe().f_code.co_name) |
|
| 93 |
|
|
| 94 |
####################################################################### |
|
| 95 |
#finally some implemented functions |
|
| 96 |
def set_default_emotion(self, emotion, blocking): |
|
| 97 |
"""set the default emotion |
|
| 98 |
:param emotion: RobotEmotion to set |
|
| 99 |
:param blocking: True if this call should block until execution finished on robot |
|
| 100 |
""" |
|
| 101 |
self.default_emotion = emotion |
|
| 102 |
self.publish_default_emotion(emotion, blocking) |
|
| 103 |
|
|
| 104 |
def set_current_emotion(self, emotion, blocking): |
|
| 105 |
"""set a temporary emotion (duration: see emotion.time_ms) |
|
| 106 |
:param emotion: RobotEmotion to set temporarily |
|
| 107 |
:param blocking: True if this call should block until execution finished on robot |
|
| 108 |
""" |
|
| 109 |
self.current_emotion = emotion |
|
| 110 |
self.publish_current_emotion(emotion, blocking) |
|
| 111 |
|
|
| 112 |
def set_head_animation(self, animation, blocking): |
|
| 113 |
"""trigger a head animation |
|
| 114 |
:param animation: RobotAnimation to set |
|
| 115 |
:param blocking: True if this call should block until execution finished on robot |
|
| 116 |
""" |
|
| 117 |
self.animation = animation |
|
| 118 |
self.publish_head_animation(animation, blocking) |
|
| 119 |
|
|
| 120 |
def set_mouth_target(self, mouth, blocking): |
|
| 121 |
"""set a mouth target |
|
| 122 |
:param mouth: RobotMouth to set |
|
| 123 |
:param blocking: True if this call should block until execution finished on robot |
|
| 124 |
""" |
|
| 125 |
self.mouth_target = mouth |
|
| 126 |
self.publish_mouth_target(mouth, blocking) |
|
| 127 |
|
|
| 128 |
def set_speak(self, text, blocking): |
|
| 129 |
"""trigger a tts speech output |
|
| 130 |
:param text: text to synthesize and speak |
|
| 131 |
:param blocking: True if this call should block until execution finished on robot |
|
| 132 |
""" |
|
| 133 |
self.publish_speech(text, blocking) |
|
| 134 |
|
|
| 135 |
def set_gaze_target(self, gaze, blocking): |
|
| 136 |
"""set a new gaze |
|
| 137 |
:param gaze: RobotGaze to set |
|
| 138 |
:param blocking: True if this call should block until execution finished on robot |
|
| 139 |
""" |
|
| 140 |
self.gaze_target = gaze |
|
| 141 |
self.publish_gaze_target(gaze, blocking) |
|
| 142 |
|
|
| 143 |
####################################################################### |
|
| 144 |
#some get methods |
|
| 145 |
#def get_current_emotion(self): |
|
| 146 |
# return self.current_emotion |
|
| 147 |
# |
|
| 148 |
#def get_default_emotion(self): |
|
| 149 |
# return self.default_emotion |
|
| 150 |
# |
|
| client/python/hlrc_client/MiddlewareROS.py | ||
|---|---|---|
| 34 | 34 |
from hlrc_server.msg import * |
| 35 | 35 |
|
| 36 | 36 |
class MiddlewareROS(Middleware): |
| 37 |
#default timeout to wait in case of blocking calls
|
|
| 38 |
ROS_ACTION_CALL_TIMEOUT = 30.0
|
|
| 39 |
|
|
| 40 |
#######################################################################
|
|
| 41 |
def __init__(self, scope, loglevel=logging.WARNING):
|
|
| 42 |
"""initialise
|
|
| 43 |
:param scope: base scope we want to listen on
|
|
| 44 |
"""
|
|
| 45 |
#init base settings
|
|
| 46 |
Middleware.__init__(self,scope,loglevel)
|
|
| 47 |
#call mw init
|
|
| 48 |
self.init_middleware()
|
|
| 49 |
|
|
| 37 |
#default timeout to wait in case of blocking calls
|
|
| 38 |
ROS_ACTION_CALL_TIMEOUT = 30.0
|
|
| 39 |
|
|
| 40 |
#######################################################################
|
|
| 41 |
def __init__(self, scope, loglevel=logging.WARNING):
|
|
| 42 |
"""initialise |
|
| 43 |
:param scope: base scope we want to listen on
|
|
| 44 |
""" |
|
| 45 |
#init base settings |
|
| 46 |
Middleware.__init__(self,scope,loglevel) |
|
| 47 |
#call mw init |
|
| 48 |
self.init_middleware() |
|
| 49 |
|
|
| 50 | 50 |
def __del__(self): |
| 51 |
"""destructor
|
|
| 52 |
"""
|
|
| 53 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 54 |
|
|
| 55 |
####################################################################### |
|
| 56 |
def init_middleware(self):
|
|
| 51 |
"""destructor
|
|
| 52 |
"""
|
|
| 53 |
self.logger.debug("destructor of MiddlewareROS called")
|
|
| 54 |
|
|
| 55 |
#######################################################################
|
|
| 56 |
def init_middleware(self):
|
|
| 57 | 57 |
"""initialise middleware |
| 58 | 58 |
""" |
| 59 | 59 |
self.logger.info("initialising ROS middleware connection on scope %s" % (self.base_scope))
|
| ... | ... | |
| 89 | 89 |
self.logger.info("MiddlewareROS initialised")
|
| 90 | 90 |
|
| 91 | 91 |
|
| 92 |
####################################################################### |
|
| 93 |
def publish_emotion(self, em_type, emotion, blocking): |
|
| 94 |
"""publish an emotion via mw |
|
| 95 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT) |
|
| 96 |
:param emotion: emotion to set |
|
| 97 |
:param blocking: True if this call should block until execution finished on robot |
|
| 98 |
""" |
|
| 99 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 100 |
|
|
| 101 |
#create a goal to send to the action server. |
|
| 102 |
goal = emotionstateGoal() |
|
| 103 |
goal.value = self.convert_emotiontype_to_rosval(emotion.value) |
|
| 104 |
goal.duration = int(emotion.time_ms) |
|
| 105 |
|
|
| 106 |
#which client do we use? |
|
| 107 |
if (em_type == RobotEmotion.TYPE_DEFAULT): |
|
| 92 |
#######################################################################
|
|
| 93 |
def publish_emotion(self, em_type, emotion, blocking):
|
|
| 94 |
"""publish an emotion via mw
|
|
| 95 |
:param em_type: type of emotion (RobotEmotion::TYPE_DEFAULT or RobotEmotion::TYPE_CURRENT)
|
|
| 96 |
:param emotion: emotion to set
|
|
| 97 |
:param blocking: True if this call should block until execution finished on robot
|
|
| 98 |
"""
|
|
| 99 |
self.logger.debug("calling the emotion rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 100 |
|
|
| 101 |
#create a goal to send to the action server.
|
|
| 102 |
goal = emotionstateGoal()
|
|
| 103 |
goal.value = self.convert_emotiontype_to_rosval(emotion.value)
|
|
| 104 |
goal.duration = int(emotion.time_ms)
|
|
| 105 |
|
|
| 106 |
#which client do we use?
|
|
| 107 |
if (em_type == RobotEmotion.TYPE_DEFAULT):
|
|
| 108 | 108 |
client = self.default_emotion_client |
| 109 |
else: |
|
| 110 |
client = self.current_emotion_client |
|
| 111 |
|
|
| 112 |
#send the goal to the server |
|
| 113 |
client.send_goal(goal) |
|
| 114 |
|
|
| 115 |
#wait for the server to finish |
|
| 116 |
if (blocking): |
|
| 117 |
timed_out = client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 118 |
if (timed_out): |
|
| 119 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 120 |
|
|
| 121 |
def publish_default_emotion(self, emotion, blocking): |
|
| 122 |
self.publish_emotion(RobotEmotion.TYPE_DEFAULT, emotion, blocking) |
|
| 123 |
|
|
| 124 |
def publish_current_emotion(self, emotion, blocking): |
|
| 125 |
self.publish_emotion(RobotEmotion.TYPE_CURRENT, emotion, blocking) |
|
| 126 |
|
|
| 127 |
def publish_head_animation(self, animation, blocking): |
|
| 128 |
"""publish an head animation via mw |
|
| 129 |
:param animation: animation to set |
|
| 130 |
:param blocking: True if this call should block until execution finished on robot |
|
| 131 |
""" |
|
| 132 |
self.logger.debug("calling the animation rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 133 |
|
|
| 134 |
#create a goal to send to the action server. |
|
| 135 |
goal = animationGoal() |
|
| 136 |
goal.target = self.convert_animationtype_to_rosval(animation.value) |
|
| 137 |
goal.repetitions = animation.repetitions |
|
| 138 |
goal.duration_each = int(animation.time_ms) |
|
| 139 |
goal.scale = animation.scale |
|
| 140 |
|
|
| 141 |
#send the goal to the server |
|
| 142 |
self.animation_client.send_goal(goal) |
|
| 143 |
|
|
| 144 |
#wait for the server to finish |
|
| 145 |
if (blocking): |
|
| 146 |
timed_out = self.animation_client.wait_for_result(rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT)) |
|
| 147 |
if (timed_out): |
|
| 148 |
self.logger.error("%s timed out waiting for result" % (sys._getframe().f_code.co_name))
|
|
| 149 |
|
|
| 150 |
self.logger.debug("animation rpc done")
|
|
| 151 |
|
|
| 152 |
def publish_gaze_target(self, gaze, blocking): |
|
| 153 |
"""publish a gaze target via mw |
|
| 154 |
:param gaze: gaze to set |
|
| 155 |
:param blocking: True if this call should block until execution finished on robot |
|
| 156 |
""" |
|
| 157 |
self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))
|
|
| 158 |
|
|
| 159 |
#create a goal to send to the action server. |
|
| 160 |
goal = gazetargetGoal() |
|
| 161 |
goal.pan = gaze.pan |
|
| 162 |
goal.tilt = gaze.tilt |
|
| 163 |
goal.roll = gaze.roll |
|
| 164 |
goal.vergence = gaze.vergence |
|
| 165 |
goal.pan_offset = gaze.pan_offset |
|
| 166 |
goal.tilt_offset = gaze.tilt_offset |
|
| 167 |
|
|
| 168 |
#type |
|
| 169 |
if (gaze.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE): |
|
| 170 |
goal.gaze_type = gazetargetGoal.GAZETARGET_ABSOLUTE |
|
| 171 |
else: |
|
| 172 |
goal.gaze_type = gazetargetGoal.GAZETARGET_RELATIVE |
|
| 173 |
|
|
| 174 |
goal.timestamp = rospy.Time.from_sec(gaze.timestamp) |
|
| 175 |
|
|
| 176 |
#send the goal to the server |
|
| 177 | ||