def __init__( self ):
NaoNode.__init__( self );
# Initialize ROS node.
rospy.init_node( 'nao_camera' );
self.__videoDeviceProxy = self.getProxy( 'ALVideoDevice' );
# Get options.
self.__options = {};
self.__options[ 'resolution' ] = rospy.get_param( '~resolution', vision_definitions.kVGA );
self.__options[ 'colorSpace' ] = rospy.get_param( '~color_space', vision_definitions.kBGRColorSpace );
self.__options[ 'fps' ] = rospy.get_param( '~fps', 15 );
self.__options[ 'camera' ] = rospy.get_param( '~camera', 0 );
self.subscribe();
# Create publishers.
self.__imagePublisher = rospy.Publisher( '/nao_camera/image_raw', Image );
self.__cameraInfoPublisher = rospy.Publisher( '/nao_camera/camera_info', CameraInfo );
# Publish images.
rate = rospy.Rate( self.__options[ 'fps' ] );
while( not rospy.is_shutdown() ):
self.publish();
rate.sleep();
def __init__( self ):
NaoNode.__init__( self );
# Initialize ROS node.
rospy.init_node( 'nao_speech' );
self.__textToSpeechProxy = self.getProxy( 'ALTextToSpeech' );
# Create subscribers.
self.__speechSubscriber = rospy.Subscriber( '/nao_speech', String, self.onSpeechReceived );
def __init__( self, name ):
NaoNode.__init__( self );
ALModule.__init__( self, name );
self.name = name;
# Initialize ROS node.
rospy.init_node( 'nao_landmark_detection' );
self.memoryProxy = self.getProxy( 'ALMemory' );
self.landmarkDetectionProxy = self.getProxy( 'ALLandMarkDetection' );
self.subscribe();
# Create publishers.
self.landmarkDetectionPublisher = rospy.Publisher( 'nao_landmark_detection', LandmarkDetection );
# Create messages.
self.LandmarkDetectionMessage = LandmarkDetection();
def __init__( self ):
NaoNode.__init__( self );
# Initialize ROS node.
rospy.init_node( PACKAGE_NAME );
# Create dynamic configure server.
self.__configService = dynamic_reconfigure.server.Server( NaoBlobDetectionConfig, self.onConfigReceived );
# Initialize
self.initialize();
# Setup OpenCV.
self.__cvBridge = CvBridge();
# Create publishers.
self.__cameraPublisher = rospy.Publisher( self.__topicCameraPublisher, Image );
# Create subscribers.
self.__cameraSubscriber = rospy.Subscriber( self.__topicCameraSubscriber, Image, self.onImageReceived );
self.__blobsSubscriber = rospy.Subscriber( self.__topicBlobsSubscriber, Blobs, self.onBlobsReceived );
def __init__( self, name ):
NaoNode.__init__( self );
ALModule.__init__( self, name );
self.name = name;
# Initialize ROS node.
rospy.init_node( 'nao_sensors' );
self.memoryProxy = self.getProxy( 'ALMemory' );
self.subscribe();
# Create publishers.
self.tactileButtonPublisher = rospy.Publisher( 'nao_sensors_tactile_button', TactileButton );
self.bumperButtonPublisher = rospy.Publisher( 'nao_sensors_bumper_button', BumperButton );
self.chestButtonPublisher = rospy.Publisher( 'nao_sensors_chest_button', ChestButton );
# Create messages.
self.TactileButtonMessage = TactileButton();
self.BumperButtonMessage = BumperButton();
self.ChestButtonMessage = ChestButton();
def __init__(self):
NaoNode.__init__(self)
rospy.init_node("nao_experiment")
# Connect to the server.
self.__actionClient = actionlib.SimpleActionClient("joint_trajectory", JointTrajectoryAction)
if not self.__actionClient.wait_for_server(rospy.Duration(10)):
rospy.logerr('Unable to establish a connection to the "joint_trajectory" server.')
sys.exit(1)
# Subscribe to the blob detection.
"""
self.setStiffness( [ 'HeadYaw', 'HeadPitch', 'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll', 'RWristYaw', 'RHand', 'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'LWristYaw', 'LHand' ], [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ] );
self.setPose( 'headAndArmsInitial' );
self.laneOne();
rospy.sleep( 2 );
self.setPose( 'headAndArmsInitial' );
self.laneTwo();
rospy.sleep( 2 );
self.setPose( 'headAndArmsInitial' );
self.laneThree();
rospy.sleep( 2 );
self.setPose( 'headAndArmsInitial' );
self.laneFour();
rospy.sleep( 2 );
self.setPose( 'headAndArmsInitial' );
self.laneFive();
rospy.sleep( 2 );
self.setPose( 'headAndArmsInitial' );
self.setStiffness( [ 'HeadYaw', 'HeadPitch', 'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll', 'RWristYaw', 'RHand', 'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'LWristYaw', 'LHand' ], [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] );
"""
# Sit down.
# self.enableBodyStiffness();
# self.setPose( 'sit' );
# self.disableBodyStiffness();
# print( self.getProxy( 'ALMotion' ).getSummary() );
# Read in bins.
path = os.path.join(roslib.packages.get_pkg_dir(PACKAGE_NAME), "cfg")
fileName = os.path.join(path, "config.yaml")
file = open(fileName, "r")
data = yaml.load(file)
print("File name: {fileName}".format(fileName=fileName))
print(data)
