def start(self):
log_once = True
while not rospy.is_shutdown():
try:
self.robot.start(self.port, robot_types.ROBOT_TYPES[self.robot_type].baudrate)
break
except serial.serialutil.SerialException as ex:
msg = "Failed to open port %s. Error: %s Please make sure the Create cable is plugged into the computer. \n"%((self.port), ex.message)
self._diagnostics.node_status(msg,"error")
if log_once:
log_once = False
rospy.logerr(msg)
else:
sys.stderr.write(msg)
time.sleep(3.0)
self.sensor_handler = robot_types.ROBOT_TYPES[self.robot_type].sensor_handler(self.robot)
self.robot.safe = True
if rospy.get_param('~bonus', False):
bonus(self.robot)
self.robot.control()
# Write driver state to disk
with open(connected_file(), 'w') as f:
f.write("1")
# Startup readings from Create can be incorrect, discard first values
s = TurtlebotSensorState()
try:
self.sense(s)
except Exception:
# packet read can get interrupted, restart loop to
# check for exit conditions
pass
def start(self):
log_once = True
while not rospy.is_shutdown():
try:
self.robot.start(self.port, robot_types.ROBOT_TYPES[self.robot_type].baudrate)
break
except serial.serialutil.SerialException as ex:
msg = "Failed to open port %s. Error: %s Please make sure the Create cable is plugged into the computer. \n"%((self.port), ex.message)
self._diagnostics.node_status(msg,"error")
if log_once:
log_once = False
rospy.logerr(msg)
else:
sys.stderr.write(msg)
time.sleep(3.0)
self.sensor_handler = robot_types.ROBOT_TYPES[self.robot_type].sensor_handler(self.robot)
self.robot.safe = True
if rospy.get_param('~bonus', False):
bonus(self.robot)
self.robot.control()
# Write driver state to disk
with open(connected_file(), 'w') as f:
f.write("1")
# Startup readings from Create can be incorrect, discard first values
s = TurtlebotSensorState()
try:
self.sense(s)
except Exception:
# packet read can get interrupted, restart loop to
# check for exit conditions
pass
def start(self):
log_once = True
while not rospy.is_shutdown():
try:
self.robot.start(self.port)
break
except serial.serialutil.SerialException as ex:
msg = "Failed to open port %s. Please make sure the Create cable is plugged into the computer. \n"%(self.port)
self._diagnostics.node_status(msg,"error")
if log_once:
log_once = False
rospy.logerr(msg)
else:
sys.stderr.write(msg)
time.sleep(3.0)
self.create_sensor_handler = TurtlebotSensorHandler(self.robot)
self.robot.safe = True
if rospy.get_param('~bonus', False):
bonus(self.robot)
self.robot.control()
# Write driver state to disk
with open(connected_file(), 'w') as f:
f.write("1")
self._init_pubsub()
