#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import Twist
import numpy as np
import trajectory
from purepursuit import PurePursuitTracker,simulate_unicycle

#################################################################

vmax = 0.25
goal_threshold = 0.05
lookahead = 2.0

#################################################################


rospy.init_node("velocity_publisher")
pub = rospy.Publisher('/cmd_vel',Twist,queue_size = 1)

rate = rospy.Rate(10)

move = Twist()


# move.linear.x = 0.5
# move.angular.z = 0.5
x,y,t = trajectory.generate_trajectory([("straight",2),("turn",90),("straight",4),("turn",-90),("turn",-90),("turn",-90),("straight",2),("turn",-90)],radius = 1)
tracker = PurePursuitTracker(x,y,vmax) 
pose = 0, 0, np.pi/2 #arbitrary initial pose


  
      
      
while not rospy.is_shutdown():
    print("v = ",tracker.v," w = ",tracker.w)
    move.linear.x = -tracker.v
    move.angular.z = tracker.w
    pub.publish(move)

    pose = simulate_unicycle(pose,tracker.v,tracker.w)
      
    
    
    rate.sleep()
    if tracker.update(*pose):
        print("ARRIVED!!")    
        break

    
move.linear.x = 0
move.angular.z = 0   
pub.publish(move) 

4d83cccfeca62c92104f40fd6c11edca6da04b57
<mask token>

<mask token>
rospy.init_node('velocity_publisher')
<mask token>
while not rospy.is_shutdown():
    print('v = ', tracker.v, ' w = ', tracker.w)
    move.linear.x = -tracker.v
    move.angular.z = tracker.w
    pub.publish(move)
    pose = simulate_unicycle(pose, tracker.v, tracker.w)
    rate.sleep()
    if tracker.update(*pose):
        print('ARRIVED!!')
        break
<mask token>
pub.publish(move)

<mask token>
vmax = 0.25
goal_threshold = 0.05
lookahead = 2.0
rospy.init_node('velocity_publisher')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
rate = rospy.Rate(10)
move = Twist()
x, y, t = trajectory.generate_trajectory([('straight', 2), ('turn', 90), (
    'straight', 4), ('turn', -90), ('turn', -90), ('turn', -90), (
    'straight', 2), ('turn', -90)], radius=1)
tracker = PurePursuitTracker(x, y, vmax)
pose = 0, 0, np.pi / 2
while not rospy.is_shutdown():
    print('v = ', tracker.v, ' w = ', tracker.w)
    move.linear.x = -tracker.v
    move.angular.z = tracker.w
    pub.publish(move)
    pose = simulate_unicycle(pose, tracker.v, tracker.w)
    rate.sleep()
    if tracker.update(*pose):
        print('ARRIVED!!')
        break
move.linear.x = 0
move.angular.z = 0
pub.publish(move)

import rospy
from geometry_msgs.msg import Twist
import numpy as np
import trajectory
from purepursuit import PurePursuitTracker, simulate_unicycle
vmax = 0.25
goal_threshold = 0.05
lookahead = 2.0
rospy.init_node('velocity_publisher')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
rate = rospy.Rate(10)
move = Twist()
x, y, t = trajectory.generate_trajectory([('straight', 2), ('turn', 90), (
    'straight', 4), ('turn', -90), ('turn', -90), ('turn', -90), (
    'straight', 2), ('turn', -90)], radius=1)
tracker = PurePursuitTracker(x, y, vmax)
pose = 0, 0, np.pi / 2
while not rospy.is_shutdown():
    print('v = ', tracker.v, ' w = ', tracker.w)
    move.linear.x = -tracker.v
    move.angular.z = tracker.w
    pub.publish(move)
    pose = simulate_unicycle(pose, tracker.v, tracker.w)
    rate.sleep()
    if tracker.update(*pose):
        print('ARRIVED!!')
        break
move.linear.x = 0
move.angular.z = 0
pub.publish(move)

#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import Twist
import numpy as np
import trajectory
from purepursuit import PurePursuitTracker,simulate_unicycle

#################################################################

vmax = 0.25
goal_threshold = 0.05
lookahead = 2.0

#################################################################


rospy.init_node("velocity_publisher")
pub = rospy.Publisher('/cmd_vel',Twist,queue_size = 1)

rate = rospy.Rate(10)

move = Twist()


# move.linear.x = 0.5
# move.angular.z = 0.5
x,y,t = trajectory.generate_trajectory([("straight",2),("turn",90),("straight",4),("turn",-90),("turn",-90),("turn",-90),("straight",2),("turn",-90)],radius = 1)
tracker = PurePursuitTracker(x,y,vmax) 
pose = 0, 0, np.pi/2 #arbitrary initial pose


  
      
      
while not rospy.is_shutdown():
    print("v = ",tracker.v," w = ",tracker.w)
    move.linear.x = -tracker.v
    move.angular.z = tracker.w
    pub.publish(move)

    pose = simulate_unicycle(pose,tracker.v,tracker.w)
      
    
    
    rate.sleep()
    if tracker.update(*pose):
        print("ARRIVED!!")    
        break

    
move.linear.x = 0
move.angular.z = 0   
pub.publish(move) 
