class Navigation(object):

    def __init__(self):

        self.connection = LabNavigation()
        self.path_planner = GapFinder(.7)
        self.actuation = ROS2DimActuate()
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(1)
        self.space = .9
        self.target_x = 0
        self.target_y = 2

        sleep(5)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity=0.0

        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)
        rospy.spin()

    def move(self, data):
        distances = list(data.ranges)[0::every_other]
        self.path_planner.filterReadings(distances, angles)
        closest_reading = self.path_planner.getMinimumReading()
        time_now = time()
        self.crash_avert_velocity = (self.crash_avert_velocity+(closest_reading - self.prev_closest_reading) * kd / (time() - self.prev_time))/2
        self.crash_avert_velocity = min(0.0,self.crash_avert_velocity)
        controlled_velocity = closest_reading * kp + self.crash_avert_velocity
        controlled_velocity = max(0.0,min(controlled_velocity,1))
        print 'Controlled Velocity:', controlled_velocity,
        print 'closest_reading:',closest_reading,
        print 'Crash avert velocity:',self.crash_avert_velocity
        self.actuation.setTangentialVelocityLimit(controlled_velocity)

        agent_id, x, y, z, yaw, pitch, roll = self.connection.getStates(1)
        # print 'agent location (x,y):', x, y, yaw

        diff_x = self.target_x - x
        diff_y = self.target_y - y
        self.distance = sqrt(diff_x**2 + diff_y**2)

        if self.distance < .03:
            self.target_y = self.target_y * -1

        angle = arctan2(diff_y, diff_x) - yaw
        subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
        self.tracker.moveTowardsDynamicPoint(subgoal_distance, -subgoal_angle)
        self.prev_closest_reading = closest_reading
        self.prev_time = time_now

    def __init__(self):
        # Set parameters
        self.flag = 1
        self.gap = .7   #space needed to pass through
        self.agent_id = 1   #Number for Robot $$change
        self.stage = 0      #initial target
        self.substage = 0   #initial task 0 = drive to objective

        self.topicConfig() #configure simulation namspaces or actual huskies

        self.connection = gpsLocalization(self.namespace, self.gpsTopic, self.imuTopic, self.xOffset, self.yOffset) #Connection which will give current position
        self.path_planner = GapFinder(self.gap) #Finds gaps that the robot can enter
        self.actuation = ROS2DimActuate(self.controlTopic)   #Controls the motion of the robot
        #Create a tracker which knows how to move the robot and get it's position
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
        #Tell the tracker which robot to command
        self.tracker.setID(self.agent_id)

        #Countdown to start
        sleep_time = 3
        while sleep_time > 0:
            print "Mission starts in:", sleep_time
            sleep_time -= 1
            sleep(1)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        self.subscriber = rospy.Subscriber(self.lidarTopic, LaserScan, self.move, queue_size=1) #Call move for each laser scan


        rospy.spin()

    def __init__(self):

        self.gap = .7
        self.agent_id = 1
        self.stage = 0
        self.substage = 0

        self.connection = LabNavigation()
        self.path_planner = GapFinder(self.gap)
        self.actuation = ROS2DimActuate()
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(self.agent_id)

        sleep_time = 7
        while sleep_time > 0:
            print "Mission starts in:", sleep_time
            sleep_time -= 1
            sleep(1)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)

        rospy.spin()

    def __init__(self):

        #set parameters
        self.gap = .7 #space needed to pass through
        self.target_x = 5 #destination coordinates
        self.target_y = 4
        self.agent_id = 0

        self.connection = gpsLocalization()   #Connection which will give current position
        self.path_planner = GapFinder(self.gap)  #Finds gaps that the robot can enter
        self.actuation = ROS2DimActuate()   #Controls the motion of the robot
        self.actuation.setAngularVelocityLimit(.5)  #Sets the maximum velocity
        #Create a tracker which knows how to move the robot and get it's position
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
        #Tell the tracker which robot to command
        self.tracker.setID(self.agent_id)

        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        sleep(2)
        self.subscriber = rospy.Subscriber('/husky1/scan', LaserScan, self.move, queue_size=1) #Call move for each laser scan

        rospy.spin()

    def __init__(self):

        self.gap = .6
        # self.space = .9
        self.target_x = .5
        self.target_y = 1
        self.agent_id = 0

        self.connection = LabNavigation()
        self.path_planner = GapFinder(self.gap)
        self.actuation = ROS2DimActuate()
        self.actuation.setAngularVelocityLimit(1)
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(self.agent_id)

        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        sleep(7)
        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)

        rospy.spin()

 def __init__(self):
     sleep(5)
     self.distance = []
     self.connection = NaslabNetwork()
     self.path_planner = GapFinder(.5)
     self.actuation = ROS2DimActuate()
     self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
     self.tracker.setID(0)
     self.target_body_number = 2
     self.space = .75
     self.direction = 1
     self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)
     rospy.spin()

class Navigation(object):

    def __init__(self):
        sleep(5)
        self.distance = []
        self.connection = NaslabNetwork()
        self.path_planner = GapFinder(.5)
        self.actuation = ROS2DimActuate()
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
        self.tracker.setID(0)
        self.target_body_number = 2
        self.space = .75
        self.direction = 1
        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)
        rospy.spin()

    # def start(self):

    def move(self, data):
        distances = list(data.ranges)[0::every_other]
        self.path_planner.filterReadings(distances, angles)

        x, y, theta = self.connection.getStates(0)
        target_x, target_y, target_theta = self.connection.getStates(self.target_body_number)
        target_x = target_x + self.space * cos(target_theta)
        target_y = target_y + self.space * sin(target_theta)
        diff_x = target_x - x
        diff_y = target_y - y
        self.distance = sqrt(diff_x**2 + diff_y**2)

        if self.distance < .03:

            if self.target_body_number == 1:
                self.tracker.faceDirection(target_theta)
                print 'ARRIVED!!!!!!!!!!!'
                self.subscriber.unregister()
                return

            if self.target_body_number == 2:
                self.tracker.faceDirection(pi+target_theta)
                self.target_body_number = 1
                self.space = -1.1
                print 'ARRIVED!!!!!!!!!!!'
                sleep(4)

        angle = arctan2(diff_y, diff_x) - theta
        subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
        self.tracker.moveTowardsDynamicPoint(subgoal_distance, -subgoal_angle)

    def __init__(self):

        self.connection = LabNavigation()
        self.path_planner = GapFinder(.7)
        self.actuation = ROS2DimActuate()
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(1)
        self.space = .9
        self.target_x = 0
        self.target_y = 2

        sleep(5)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity=0.0

        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)
        rospy.spin()

class Navigation(object):

    def __init__(self):
        # Set parameters
        self.flag = 1
        self.gap = .7   #space needed to pass through
        self.agent_id = 1   #Number for Robot $$change
        self.stage = 0      #initial target
        self.substage = 0   #initial task 0 = drive to objective

        self.topicConfig() #configure simulation namspaces or actual huskies

        self.connection = gpsLocalization(self.namespace, self.gpsTopic, self.imuTopic, self.xOffset, self.yOffset) #Connection which will give current position
        self.path_planner = GapFinder(self.gap) #Finds gaps that the robot can enter
        self.actuation = ROS2DimActuate(self.controlTopic)   #Controls the motion of the robot
        #Create a tracker which knows how to move the robot and get it's position
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
        #Tell the tracker which robot to command
        self.tracker.setID(self.agent_id)

        #Countdown to start
        sleep_time = 3
        while sleep_time > 0:
            print "Mission starts in:", sleep_time
            sleep_time -= 1
            sleep(1)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        self.subscriber = rospy.Subscriber(self.lidarTopic, LaserScan, self.move, queue_size=1) #Call move for each laser scan


        rospy.spin()

    def topicConfig(self):
        if len(argv)>1:
            self.namespace = argv[3]
            self.lidarTopic = '/' + argv[3] + '/scan'
            self.gpsTopic = '/' + argv[3] + '/odometry/gps'
            self.imuTopic = '/' + argv[3] + '/imu/data'
            self.controlTopic = '/' + argv[3] + '/cmd_vel'
            self.xOffset = float(argv[1])
            self.yOffset = float(argv[2])

        else:
            self.namespace = ''
            self.lidarTopic ='/scan'
            self.gpsTopic = '/navsat/enu'
            self.imuTopic = '/imu/data'
            self.controlTopic = '/cmd_vel'
            self.xOffset = 0
            self.yOffset = 0


    def move(self, data):
        agent_id, x, y, z, yaw, pitch, roll = self.connection.getStates(self.agent_id)
        print '-----------------------------'

        # extract distance data and analyze them
        distances = list(data.ranges)[0::every_other]

        #Drive to the setpoint for the target
        if self.substage == 0:
            self.path_planner.filterReadings(distances, angles)
            closest_reading, closest_reading_angle = self.path_planner.getMinimumReading()

            # dynamic obstacle collision avoidance
            closest_reading = min(closest_reading, 2 * self.gap)
            time_now = time()
            self.crash_avert_velocity = (self.crash_avert_velocity + (closest_reading - self.prev_closest_reading) * kd / (time() - self.prev_time)) / 2
            self.crash_avert_velocity = min(0.0, self.crash_avert_velocity)

            # set velocity based on dynamic obstacle movement
            controlled_velocity = (closest_reading) * kp + self.crash_avert_velocity
            controlled_velocity = max(0.0, min(controlled_velocity, 1.0))
            self.actuation.setTangentialVelocityLimit(min(1, controlled_velocity))

            # find destination and analyze it
            #get information about the current target
            #target_object = self.connection.getStates(targets[self.stage][0])
            if self.stage == 0:
                target_object = [0,-5,0,0,0]

            # Find where to approach target from
            target = withDistance(target_object[1], target_object[2], target_object[4], targets[self.stage][1][0])
            print target
            
            target_x = target[0]
            target_y = target[1]
            diff_x = target_x - x
            diff_y = target_y - y
            self.distance = sqrt(diff_x**2 + diff_y**2)

            # plan path to the target
            angle = arctan2(diff_y, diff_x) - yaw  # find direction towards target in robots coordinate frame
            subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
            subgoal_angle2 = -subgoal_angle
#.........这里部分代码省略.........

class Navigation(object):

    def __init__(self):

        self.gap = .7
        self.agent_id = 1
        self.stage = 0
        self.substage = 0

        self.connection = LabNavigation()
        self.path_planner = GapFinder(self.gap)
        self.actuation = ROS2DimActuate()
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(self.agent_id)

        sleep_time = 7
        while sleep_time > 0:
            print "Mission starts in:", sleep_time
            sleep_time -= 1
            sleep(1)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)

        rospy.spin()

    def move(self, data):
        agent_id, x, y, z, yaw, pitch, roll = self.connection.getStates(self.agent_id)
        print '-----------------------------'
        global i
        global finished_edge

        # extract distance data and analyze them
        distances = list(data.ranges)[0::every_other]

        if self.substage == 0:
            self.path_planner.filterReadings(distances, angles)
            closest_reading, closest_reading_angle = self.path_planner.getMinimumReading()

            # dynamic obstacle collision avoidance
            closest_reading = min(closest_reading, 2 * self.gap)
            time_now = time()
            self.crash_avert_velocity = (self.crash_avert_velocity + (closest_reading - self.prev_closest_reading) * kd / (time() - self.prev_time)) / 2
            self.crash_avert_velocity = min(0.0, self.crash_avert_velocity)

            # set velocity based on dynamic obstacle movement
            controlled_velocity = (closest_reading) * kp + self.crash_avert_velocity
            controlled_velocity = max(0.0, min(controlled_velocity, 1.0))
            self.actuation.setTangentialVelocityLimit(min(1, controlled_velocity))

            # find destination and analyze it
            target_object = self.connection.getStates(targets[self.stage][0])
            target = withDistance(target_object[1], target_object[2], target_object[4], targets[self.stage][1][0])
            # print target
            target_x = target[0]
            target_y = target[1]
            diff_x = target_x - x
            diff_y = target_y - y
            self.distance = sqrt(diff_x**2 + diff_y**2)

            print 'here1'
            # plan path to the target
            angle = arctan2(diff_y, diff_x) - yaw  # find direction towards target in robots coordinate frame
            subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
            subgoal_angle2 = -subgoal_angle

            # go to the point designated by path planner
            self.tracker.moveTowardsDynamicPoint(subgoal_distance, subgoal_angle2)

            # See if reached the destination
            if self.distance < .1:
                print '\033[92m' + '\033[1m' + 'ARRIVED TO GATE' + '\033[0m'

                # face direction
                if targets[self.stage][1][0] < 0:
                    desired_facing = self.connection.getStates(targets[self.stage][0])[4]
                else:
                    desired_facing = pi + self.connection.getStates(targets[self.stage][0])[4]
                self.tracker.faceDirection(desired_facing)
                self.substage = 1
                sleep(1)

            # save some of the variable needed for next iteration
            self.prev_closest_reading = closest_reading
            self.prev_time = time_now

        elif self.substage == 1:
            
            front_travel = self.path_planner.getFrontTravel(distances, angles)
            front_error = front_travel - targets[self.stage][1][1]
            print front_travel, front_error
            if abs(front_error) < .03:
                self.substage = 2
                print 'BREAKINGGGGGGGGGGGGGGGGGGGG'
                sleep(5)
#.........这里部分代码省略.........

#!/usr/bin/env python

from tracker import PlanarTracker
from communication import NaslabNetwork
from actuate import ROS2DimActuate
from numpy import pi
from path_generator import PathGenerator


connection = NaslabNetwork()
act = ROS2DimActuate()
tracker = PlanarTracker(act.actuate, connection.getStates)

for i in range(10):
    tracker.goToPoint(1, 0)
    tracker.faceDirection(pi/2)
    path = PathGenerator(path_type='circle', speed=.3)
    tracker.followPath(path)

class Navigation(object):

    def __init__(self):

        #set parameters
        self.gap = .7 #space needed to pass through
        self.target_x = 5 #destination coordinates
        self.target_y = 4
        self.agent_id = 0

        self.connection = gpsLocalization()   #Connection which will give current position
        self.path_planner = GapFinder(self.gap)  #Finds gaps that the robot can enter
        self.actuation = ROS2DimActuate()   #Controls the motion of the robot
        self.actuation.setAngularVelocityLimit(.5)  #Sets the maximum velocity
        #Create a tracker which knows how to move the robot and get it's position
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)
        #Tell the tracker which robot to command
        self.tracker.setID(self.agent_id)

        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        sleep(2)
        self.subscriber = rospy.Subscriber('/husky1/scan', LaserScan, self.move, queue_size=1) #Call move for each laser scan

        rospy.spin()

    def move(self, data):
        agent_id, x, y, z, yaw, pitch, roll = self.connection.getStates(self.agent_id) #Get localization info
        #print 'x: ', x,'y: ', y,'theta: ', yaw

        print '-----------------------------'
        global i
        global stage
        global finished_logging
        distances = list(data.ranges)[0::every_other] #store the range readings from the lidar
        self.path_planner.filterReadings(distances, angles) #filter the results

        closest_reading, closest_reading_angle = self.path_planner.getMinimumReading()
        closest_reading = min(closest_reading, 2 * self.gap)
        time_now = time()
        self.crash_avert_velocity = (self.crash_avert_velocity + (closest_reading - self.prev_closest_reading) * kd / (time() - self.prev_time)) / 2
        self.crash_avert_velocity = min(0.0, self.crash_avert_velocity)

        controlled_velocity = (closest_reading) * kp + self.crash_avert_velocity
        controlled_velocity = max(0.0, min(controlled_velocity, 1.0))

        self.actuation.setTangentialVelocityLimit(min(.2, controlled_velocity))

        i += 1
        if i % temp_var is 0 and i < temp_var_2:
            log[i / temp_var] = [x, y, yaw, self.path_planner.readings_polar]

        diff_x = self.target_x - x
        diff_y = self.target_y - y
        self.distance = sqrt(diff_x**2 + diff_y**2)

        if self.distance < .1:
            stage += 1
            print 'ARRIVED!!!!!!!!!!'
            if finished_logging is False and i >= temp_var_2:
                self.tracker.saveLog()
                save('loginfo', log)
                finished_logging = True
            self.target_y = self.target_y * -1
            self.target_x = self.target_x * -1
            exit()

        angle = arctan2(diff_y, diff_x) - yaw
        #print 'dist: ', self.distance, 'angle: ', -angle
        subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
        subgoal_angle2 = -subgoal_angle

        self.tracker.moveTowardsDynamicPoint(subgoal_distance, subgoal_angle2)

        self.prev_closest_reading = closest_reading
        self.prev_time = time_now

import rospy
from time import sleep

from sys import path
path.append('Modules/')
from tracker import PlanarTracker
from communication import LabNavigation
from actuate import ROS2DimActuate
from numpy import pi
from path_generator import PathGenerator


connection = LabNavigation()
act = ROS2DimActuate()
tracker = PlanarTracker(act.actuate, connection.getStates)
tracker.setID(0)
path = PathGenerator(path_type='two_lines', speed=.2)


sleep(2)

# tracker.goToPoint(0, -2)
#
# tracker.faceDirection(-pi/4)

start_location = path.getBeginning()
tracker.goToPoint(start_location[0]+.3, start_location[1])
sleep(1)
tracker.faceDirection(pi / 2)
sleep(1)

class Navigation(object):

    def __init__(self):

        self.gap = .6
        # self.space = .9
        self.target_x = .5
        self.target_y = 1
        self.agent_id = 0

        self.connection = LabNavigation()
        self.path_planner = GapFinder(self.gap)
        self.actuation = ROS2DimActuate()
        self.actuation.setAngularVelocityLimit(1)
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(self.agent_id)

        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        print 'Starting the Navigation'
        sleep(7)
        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)

        rospy.spin()

    def move(self, data):
        agent_id, x, y, z, yaw, pitch, roll = self.connection.getStates(self.agent_id)
        # sleep(1)
        print '-----------------------------'
        global i
        global stage
        global finished_logging
        distances = list(data.ranges)[0::every_other]
        self.path_planner.filterReadings(distances, angles)

        closest_reading, closest_reading_angle = self.path_planner.getMinimumReading()
        closest_reading = min(closest_reading, 2 * self.gap)
        time_now = time()
        self.crash_avert_velocity = (self.crash_avert_velocity + (closest_reading - self.prev_closest_reading) * kd / (time() - self.prev_time)) / 2
        self.crash_avert_velocity = min(0.0, self.crash_avert_velocity)
        # print 'Crash avert velocity:% 4.2f'%self.crash_avert_velocity
        controlled_velocity = (closest_reading) * kp + self.crash_avert_velocity
        controlled_velocity = max(0.0, min(controlled_velocity, 1.0))
        # print 'Controlled Velocity:', controlled_velocity,
        # print 'closest_reading:',closest_reading,
        # print 'Crash avert velocity:',self.crash_avert_velocity
        self.actuation.setTangentialVelocityLimit(min(1, controlled_velocity))

        i += 1
        if i % temp_var is 0 and i < temp_var_2:
            log[i / temp_var] = [x, y, yaw, self.path_planner.readings_polar]

        diff_x = self.target_x - x
        diff_y = self.target_y - y
        self.distance = sqrt(diff_x**2 + diff_y**2)
        # print 'distance',self.distance
        if self.distance < .1:
            stage += 1
            print 'ARRIVED!!!!!!!!!!'
            if finished_logging is False and i >= temp_var_2:
                self.tracker.saveLog()
                save('/home/administrator/barzin_catkin_ws/src/path_tracking/scripts/experimental_results/env', log)
                finished_logging = True
            if stage % 2 is 0:
                self.target_y = self.target_y * -1
            else:
                self.target_x = self.target_x * -1
            # exit()

        angle = arctan2(diff_y, diff_x) - yaw
        subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
        subgoal_angle2 = -subgoal_angle
        # print angle,subgoal_angle2
        # faz = 1
        # var = min(max(0,self.gap*(1+faz)-closest_reading),faz)
        # offset = var*pi/faz/4
        # subgoal_angle2 = subgoal_angle2+offset*sign(subgoal_angle2-(-closest_reading_angle))
        # print '% 4.2f, % 4.2f, % 4.2f' % (var, offset,offset*sign(subgoal_angle2-(-closest_reading_angle)))
        # print self.distance,-angle,subgoal_distance,subgoal_angle2
        self.tracker.moveTowardsDynamicPoint(subgoal_distance, subgoal_angle2)
        # print 'target angle:',yaw+subgoal_angle2
        self.prev_closest_reading = closest_reading
        self.prev_time = time_now

class Navigation(object):

    def __init__(self):

        self.gap = .9
        # self.space = .9
        self.target_x = 0
        self.target_y = 2
        self.agent_id = 1




        self.connection = LabNavigation()
        self.path_planner = GapFinder(self.gap)
        self.actuation = ROS2DimActuate()
        self.tracker = PlanarTracker(self.actuation.actuate, self.connection.getStates)

        self.tracker.setID(self.agent_id)

        sleep(5)
        self.distance = []
        self.prev_closest_reading = 0.0
        self.prev_time = time()
        self.crash_avert_velocity = 0.0

        self.subscriber = rospy.Subscriber('/scan', LaserScan, self.move, queue_size=1)
        rospy.spin()

    def move(self, data):
        distances = list(data.ranges)[0::every_other]
        self.path_planner.filterReadings(distances, angles)
        closest_reading,closest_reading_angle = self.path_planner.getMinimumReading()
        closest_reading = min(closest_reading,2*self.gap)
        time_now = time()
        self.crash_avert_velocity = (self.crash_avert_velocity + (closest_reading - self.prev_closest_reading) * kd / (time() - self.prev_time)) / 2
        self.crash_avert_velocity = min(0.0, self.crash_avert_velocity)
        # print 'Crash avert velocity:% 4.2f'%self.crash_avert_velocity
        controlled_velocity = (closest_reading) * kp + self.crash_avert_velocity
        controlled_velocity = max(0.0, min(controlled_velocity, 1.0))
        # print 'Controlled Velocity:', controlled_velocity,
        # print 'closest_reading:',closest_reading,
        # print 'Crash avert velocity:',self.crash_avert_velocity
        self.actuation.setTangentialVelocityLimit(min(1, controlled_velocity))

        agent_id, x, y, z, yaw, pitch, roll = self.connection.getStates(self.agent_id)
        # print 'agent location (x,y):', x, y, yaw

        diff_x = self.target_x - x
        diff_y = self.target_y - y
        self.distance = sqrt(diff_x**2 + diff_y**2)
        # print 'distance',self.distance
        if self.distance < .1:
            print 'ARRIVED!!!!!!!!!!'
            self.target_y = self.target_y * -1

        angle = arctan2(diff_y, diff_x) - yaw
        subgoal_distance, subgoal_angle = self.path_planner.planPath(self.distance, -angle)
        subgoal_angle2 = -subgoal_angle
        # print angle,subgoal_angle2
        # faz = 1
        # var = min(max(0,self.gap*(1+faz)-closest_reading),faz)
        # offset = var*pi/faz/4
        # subgoal_angle2 = subgoal_angle2+offset*sign(subgoal_angle2-(-closest_reading_angle))
        # print '% 4.2f, % 4.2f, % 4.2f' % (var, offset,offset*sign(subgoal_angle2-(-closest_reading_angle)))
        self.tracker.moveTowardsDynamicPoint(subgoal_distance, subgoal_angle2)
        # print 'target angle:',yaw+subgoal_angle2
        self.prev_closest_reading = closest_reading
        self.prev_time = time_now