correction in is_real_robot

src/sorting_demo/src/sorting_demo/demo_constants.py

@@ -18,14 +18,17 @@ BLOCK_COLOR_MAPPINGS = [
 
 TRAY_COLORS = ["Red", "Green", "Blue"]
 
-TABLE_HEIGHT=-0.15
+TABLE_HEIGHT = -0.15
 
-TRAY_SURFACE_THICKNESS=0.04
+TRAY_SURFACE_THICKNESS = 0.04
 
-ARM_TOP_VIEW_Z_OFFSET = 0.05 #meters
+ARM_TOP_VIEW_Z_OFFSET = 0.05  # meters
 
 SIMULATE_TRAY_BLOCK_DETECTION = True
 
-def is_real_robot ():
-    return not rospy.has_param("/use_sim_time") and not rospy.get_param("/use_sim_time")
 
+def is_real_robot():
+    if rospy.has_param("/use_sim_time"):
+        return not rospy.get_param("/use_sim_time")
+    else:
+        return False

src/sorting_demo/src/sorting_demo/program.py

@@ -7,8 +7,8 @@ from task_planner import TaskPlanner
 import demo_constants
 import gazebo_models
 
-def main():
 
+def main():
     rospy.init_node("sorting_demo")
     rospy.logwarn("Hello world")
 
@@ -26,34 +26,32 @@ def main():
 
     rospy.logwarn("Hello world")
 
-
     task_planner.create_go_home_task(check_obstacles=False).result()
 
     task_facade = task_planner.get_task_facade()
 
-    #task_facade.start()
+    task_facade.start()
 
     task_facade.run_rest_server()
 
-    #rospy.sleep(15)
-    #task_facade.pick_block_by_color("BLUE")
-    #task_facade.put_block_into_tray("BLUE", "1")
+    # rospy.sleep(15)
+    # task_facade.pick_block_by_color("BLUE")
+    # task_facade.put_block_into_tray("BLUE", "1")
 
-    #task_facade.put_all_contents_on_table()
+    # task_facade.put_all_contents_on_table()
 
-    #task_facade.pause()
+    # task_facade.pause()
 
-    #rospy.sleep(30)
-    #task_facade.resume()
+    # rospy.sleep(30)
+    # task_facade.resume()
 
-    #task_facade.stop("GREEN")
+    # task_facade.stop("GREEN")
 
     rospy.logwarn("task planner spin")
     task_planner.spin()
 
     # ask the robot to greet
-    #task_facade.greet()
-
+    # task_facade.greet()
 
 
 if __name__ == '__main__':