src/turtle_instance_laser_rrt.py
def update_pose(self, data):
        """Callback function which is called when a new message of type Pose is
        received by the subscriber."""
        # print(data)
        # print("POSSSSSSSSSSSE:",self.pose)
        
        self.odom = data
        # if(time.time() - self.track_time > 30 ):
        
        #     self.checkStuckInRadius()
        
        rot_q = data.pose.pose.orientation
        (roll,pitch,theta) = \
            euler_from_quaternion ([rot_q.x,rot_q.y,rot_q.z,rot_q.w])
        self.theta = theta
        self.odom.pose.pose.position.x = round(self.odom.pose.pose.position.x, 4)
        self.odom.pose.pose.position.y = round(self.odom.pose.pose.position.y, 4)

        # ----------------------------------------------------------
        siny = 2.0 * (data.pose.pose.orientation.w * data.pose.pose.orientation.z + data.pose.pose.orientation.x * data.pose.pose.orientation.y);
        cosy = 1.0 - 2.0 * (data.pose.pose.orientation.y * data.pose.pose.orientation.y + data.pose.pose.orientation.z * data.pose.pose.orientation.z);  

        self.tb3_pose_ = atan2(siny, cosy);
Callback function which is called when a new message of type Pose is
        received by the subscriber.
Callback function which is called when a new message of type Pose is
received by the subscriber.
Callback function which is called when a new message of type Pose is received by the subscriber .
def update_pose(self, data):
        self.odom = data
        rot_q = data.pose.pose.orientation
        (roll,pitch,theta) = \
            euler_from_quaternion ([rot_q.x,rot_q.y,rot_q.z,rot_q.w])
        self.theta = theta
        self.odom.pose.pose.position.x = round(self.odom.pose.pose.position.x, 4)
        self.odom.pose.pose.position.y = round(self.odom.pose.pose.position.y, 4)
        siny = 2.0 * (data.pose.pose.orientation.w * data.pose.pose.orientation.z + data.pose.pose.orientation.x * data.pose.pose.orientation.y);
        cosy = 1.0 - 2.0 * (data.pose.pose.orientation.y * data.pose.pose.orientation.y + data.pose.pose.orientation.z * data.pose.pose.orientation.z);  
        self.tb3_pose_ = atan2(siny, cosy);
def update_pose ( self , data ) : self . odom = data rot_q = data . pose . pose . orientation ( roll , pitch , theta ) = euler_from_quaternion ( [ rot_q . x , rot_q . y , rot_q . z , rot_q . w ] ) self . theta = theta self . odom . pose . pose . position . x = round ( self . odom . pose . pose . position . x , 4 ) self . odom . pose . pose . position . y = round ( self . odom . pose . pose . position . y , 4 ) siny = 2.0 * ( data . pose . pose . orientation . w * data . pose . pose . orientation . z + data . pose . pose . orientation . x * data . pose . pose . orientation . y ) ; cosy = 1.0 - 2.0 * ( data . pose . pose . orientation . y * data . pose . pose . orientation . y + data . pose . pose . orientation . z * data . pose . pose . orientation . z ) ; self . tb3_pose_ = atan2 ( siny , cosy ) ;
Callback function which is called when a new message of type Pose is
received by the subscriber.
Callback function which is called when a new message of type Pose is received by the subscriber .
"""Callback function which is called when a new message of type Pose is
        received by the subscriber.""" # print(data) # print("POSSSSSSSSSSSE:",self.pose) # if(time.time() - self.track_time > 30 ): #     self.checkStuckInRadius() # ----------------------------------------------------------
self
data