QOF: rviz, launch, start gate guess

uf-mil · Aug 1, 2018 · 5d2b7db · 5d2b7db
1 parent 7ec19c3
commit 5d2b7db
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Showing 3 changed files with 55 additions and 21 deletions.
diff --git a/command/sub8_launch/launch/sub8.launch b/command/sub8_launch/launch/sub8.launch
@@ -17,6 +17,10 @@
   <include file="$(find sub8_launch)/launch/subsystems/rise.launch"/>
   <include file="$(find sub8_launch)/launch/subsystems/online_bagger.launch"/>
   <include file="$(find sub8_alarm)/launch/alarms.launch" />
+  <include file="$(find sub8_alarm)/launch/blueview.launch" />
+
+  <!-- Run guess server -->
+  <node pkg="sub8_perception" type="guess_server.py" command="load">
 
   <!-- 
   <include file="$(find sub8_launch)/launch/subsystems/legacy_sonar.launch"/>

diff --git a/command/sub8_missions/missions/start_gate_guess.py b/command/sub8_missions/missions/start_gate_guess.py
@@ -28,12 +28,12 @@ def run(sub):
     gate_2 = mil_ros_tools.rosmsg_to_numpy(gate_2_req.location.pose.position)
 
     mid = (gate_1 + gate_2) / 2
-    fprint('Found mid {}'.found(mid))
+    fprint('Found mid {}'.format(mid))
 
     fprint('Looking at gate')
-    yield sub.down(DOWN).set_orientation(sub_start_orientation).go(
+    yield sub.move.down(DOWN).set_orientation(sub_start_orientation).go(
         speed=DOWN_SPEED)
-    yield sub.look_at_without_pitching(mid).go(speed=DOWN_SPEED)
+    yield sub.move.look_at_without_pitching(mid).go(speed=DOWN_SPEED)
 
     fprint('Going!')
-    yield sub.set_position(mid).depth(DOWN).go(speed=SPEED)
+    yield sub.move.set_position(mid).depth(DOWN).go(speed=SPEED)