Moving the robot with ROS/Gazebo works

ayonix · Jun 24, 2016 · 082ff0f · 082ff0f
1 parent b6cd72d
commit 082ff0f
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Showing 20 changed files with 360 additions and 1,517 deletions.
diff --git a/src/lib/handlers/ROS/.gitignore b/src/lib/handlers/ROS/.gitignore
@@ -0,0 +1,2 @@
+ltlmop_map.world
+*.png
diff --git a/src/lib/handlers/ROS/RosActuatorHandler.py b/src/lib/handlers/ROS/RosActuatorHandler.py
diff --git a/src/lib/handlers/ROS/RosDriveHandler.py b/src/lib/handlers/ROS/RosDriveHandler.py
@@ -9,6 +9,7 @@
 """
 
 from math import sin, cos
+import sys
 
 import lib.handlers.handlerTemplates as handlerTemplates
 
@@ -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]))