walk.py 文件源码

def walk_to(self, point):
        """ Shuffle to a given point, point is given for the left foot """
        msg = FootstepDataListRosMessage()
        msg.default_transfer_time = self.DEFAULT_TRANSFER_TIME
        msg.default_swing_time = self.DEFAULT_SWING_TIME

        msg.execution_mode = msg.OVERRIDE  # Override means replace others
        msg.unique_id = self.zarj.uid

        self.lookup_feet()
        delta = Vector3(point.x - self.lf_start_position.x,
                        point.y - self.lf_start_position.y,
                        0)

        start_foot = self._find_first_xy_foot(point)
        msg.footstep_data_list = self.create_xy_steps(delta, start_foot, 0.15)

        self.steps = 0
        self.planned_steps = len(msg.footstep_data_list)
        self.walk_failure = None
        self.start_walk = rospy.get_time()
        self.footstep_list_publisher.publish(msg)
        log('FootstepDataList: uid ' + str(msg.unique_id))