Update Simulation/location_monitor/scripts/location_monitor_node.py

Simulation/location_monitor/scripts/location_monitor_node.py

+#!/usr/bin/env python
+
+import math
+import rospy
+from nav_msgs.msg import Odometry  
+from gazebo_msgs.srv import GetModelState
+
+
+botx = 0
+boty = 0
+
+class Block:
+    def __init__(self, name, relative_entity_name):
+        self._name = name
+        self._relative_entity_name = relative_entity_name
+
+
+class Tutorial:
+
+    _blockListDict = {
+          'block_a': Block('ball' , 'link'),
+    }
+
+    def show_gazebo_models(self):
+
+      try:
+          model_coordinates = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
+          for block in self._blockListDict.itervalues():
+              blockName = str(block._name)
+              resp_coordinates = model_coordinates(blockName, block._relative_entity_name)
+              l_x = resp_coordinates.pose.position.x
+              l_y = resp_coordinates.pose.position.y
+              dist = distance(botx, boty, l_x, l_y)
+              print(dist)
+              if dist < 0.20:
+                 rospy.loginfo("Collision!")
+
+
+              print(blockName)
+              print("X: " + str(l_x))
+              print("Y: " + str(l_y))
+              dist = 0
+             
+      except rospy.ServiceException as e:
+          rospy.loginfo("Get Model State service call failed:  {0}".format(e))
+
+
+def distance(x1, y1, x2, y2):
+    dist = math.sqrt((x2 - x1)**2 + (y2 - y1)**2)
+    return dist
+
+
+def callback(msg):
+    botx = msg.pose.pose.position.x
+    boty = msg.pose.pose.position.y  
+    print("BotX: " + str(botx))
+    print("BotY: " + str(boty))
+    tuto = Tutorial()
+    tuto.show_gazebo_models()
+   
+
+
+def main():
+    rospy.init_node('location_monitor')
+    rospy.Subscriber("/odom", Odometry, callback)
+    rospy.spin()
+
+if __name__ == '__main__':
+   main()