def __init__(self):
self.data = None
self.SIDE = 0
# x (steering)
self.iHat = []
self.left_right_list = []
# y (speed)
self.jHat = []
self.starttime = time.time()
# [speed, angle]
self.greenFrames = []
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 0
self.pos = 0
self.orientation = None
self.img_pub = rospy.Publisher(self.IMAGE_TOPIC, Image, queue_size = 1)
self.sub_scan = rospy.Subscriber(self.SCAN_TOPIC, LaserScan, callback=self.scan_callback)
self.pub_drive = rospy.Publisher(self.DRIVE_TOPIC, AckermannDriveStamped, queue_size=1)
self.pose_sub = rospy.Subscriber(self.POSE_TOPIC, PoseStamped, self.poseCallback)
self.safety_pub = rospy.Publisher(self.SAFETY_TOPIC, Bool, queue_size = 1)
self.ar_sub = rospy.Subscriber(self.AR_TOPIC, AlvarMarkers, self.arCallback)
self.sub_joy = rospy.Subscriber('/vesc/joy', Joy, callback=self.joy_callback)
# self.init_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=1)
self.pressed = [time.time() for i in range(4)]
self.camera_data = Zed_converter(False, save_image = False)
self.bridge = CvBridge()
self.img = None
self.image_pub = rospy.Publisher("/zed/zed_node/output", Image, queue_size = 1)
def __init__(self):
#help me
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.image_pub = rospy.Publisher(IMAGE_TOPIC, Image, queue_size=2)
self.scan_sub = rospy.Subscriber("scan", LaserScan,
self.driveStop_car_callback)
""" initialize the box dimensions"""
self.flag_box = ((0, 0), (0, 0))
self.flag_center = (0, 0)
self.flag_size = 0
"""driving stuff"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 100
self.cmd.drive.steering_angle = 0
"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image=False)
self.imagePush = None
self.imageHSV = None
self.bridge = CvBridge()
self.min_value = 0
def __init__(self):
print("suffering")
self.data = None
self.cmd = AckermannDriveStamped()
self.camera_data = Zed_converter(False, save_image = False)
#write your publishers and subscribers here; they should be the same as the wall follower's
self.laser_sub = rospy.Subscriber(self.SCAN_TOPIC, LaserScan, self.scan_callback, queue_size=1)
self.ar_sub = rospy.Subscriber(self.AR_TOPIC, AlvarMarkers, self.arCallback)
self.sound_sub = rospy.Subscriber("state", String, self.sound)
self.sound_pub = rospy.Publisher("state", String, queue_size=1)
self.drive_pub = rospy.Publisher(self.DRIVE_TOPIC, AckermannDriveStamped, queue_size=1)
self.button_sub= rospy.Subscriber(self.BUTTON_TOPIC, Joy, self.buttonCallback, queue_size=1)
#cartesian points -- to be filled (tuples)
self.state=0
#[speed, angle]
self.finalVector = [3, 0]
#self.state = "9"
self.x = 0
self.y = 0
self.z = 0
self.euler = None
self.roll = 0
self.pitch = 0
self.yaw = 0
self.dir=1
self.go=False
self.targetx = 0
self.targety = 0
self.lastdir=0
self.start_button_on=False
def __init__(self):
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.image_pub = rospy.Publisher(IMAGE_TOPIC, Image, queue_size=2)
rospy.Subscriber("scan", LaserScan, self.driveStop_car_callback)
""" initialize the box dimensions"""
self.red_bounds = [np.array([0, 44, 147]), np.array([20, 254, 255])]
self.yel_bounds = [np.array([25, 100, 200]), np.array([50, 255, 255])]
self.blu_bounds = [np.array([100, 50, 100]), np.array([150, 255, 255])]
"""driving stuff"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 0
self.cmd.drive.steering_angle = 0
"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image=False)
self.imagePush = None
self.bridge = CvBridge()
self.min_value = 0
self.cur_line = 'red'
self.n_lines = 3
def __init__(self):
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.laser_sub = rospy.Subscriber(self.SCAN_TOPIC, LaserScan,
self.scan_callback)
#""" initialize the box dimensions"""
self.width = 0.0
self.height = 0.0
self.area = 0.0
self.screen_cent = 672 / 2
self.h_middle = 0
self.cone = False
self.left = False
self.right = False
#"""driving code"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 0
self.cmd.drive.steering_angle = 0
#"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image=False)
self.min_value = 0
def __init__(self):
rospy.init_node("finalRace")
self.lidarData = None
self.cmd = AckermannDriveStamped()
self.AR = 0
self.pleaseGo = False
self.direction = None
self.navigation = Navigation()
self.drive_pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.scan_sub = rospy.Subscriber(SCAN_TOPIC, LaserScan,
self.driveCallback)
self.ar_sub = rospy.Subscriber(AR_TOPIC, AlvarMarkers, self.arCallback)
self.joy_sub = rospy.Subscriber(JOY_TOPIC, Joy, self.joy_callback)
self.signList = []
self.camera_data = Zed_converter(False, save_image=False)
self.lastTag = 0
self.tagsAndStates = (
"self.navigation.potential_fields(2)", #0
"self.highway()", #madefaster
"self.navigation.potential_fields(1.5)",
"self.navigation.wall_follower(1, 0.6, side = 1)",
"self.beforeGraves()",
"self.graves()", #5 #should be proportional? switch back
"self.navigation.potential_fields(2)",
"self.highway()",
"self.navigation.wall_follower(1.5, 1, side = -1)",
"self.navigation.potential_fields(1)",
"self.detectSign()", #10
"self.navigation.wall_follower(1.5, 1, side = -1)",
"self.navigation.wall_follower(1.5, 1, side = -1)",
"self.navigation.potential_fields(1.7)",
"self.final()",
"self.final()", #15
"self.final()",
"self.final()")
self.auto = False
self.sign = 0
self.time = None
self.signState = 0
self.line = None
def __init__(self):
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC, AckermannDriveStamped, queue_size = 1)
self.laser_sub = rospy.Subscriber(SCAN_TOPIC, LaserScan, self.driveStop_car_callback)
#rospy.Subscriber("scan", LaserScan, self.driveStop_car_callback)
#self.joy_scan = rospy.Subscriber(self.CONTROLLER_TOPIC, Joy, callback = self.joy_callback)
""" initialize the box dimensions"""
"""driving code"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 0
self.cmd.drive.steering_angle = 0
"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image = False)
self.min_value=0
def __init__(self):
rospy.init_node("finalRace")
self.lidarData = None
self.cmd = AckermannDriveStamped()
self.drive_pub = rospy.Publisher(DRIVE_TOPIC, AckermannDriveStamped, queue_size=1)
self.scan_sub = rospy.Subscriber(SCAN_TOPIC, LaserScan, self.driveCallback)
self.navigation = Navigation()
#self.sound_pub = rospy.Publisher("state", String, queue_size=1)
#self.camera_data = Zed_converter(False, save_image=False)
#self.currentPosition = (x,y)
self.pleaseGo = True
self.camera_data = Zed_converter(False, save_image=False)
def __init__(self):
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC, AckermannDriveStamped, queue_size = 1)
rospy.Subscriber("scan", LaserScan, self.driveStop_car_callback)
""" initialize the box dimensions"""
"""driving code"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 1
self.cmd.drive.steering_angle = 0
"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image = False)
# Init Vars
self.min_value=0
self.left = 0
self.right = 0
def __init__(self):
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
rospy.Subscriber("scan", LaserScan, self.driveStop_car_callback)
self.joy_sub = rospy.Subscriber("vesc/joy", Joy, self.joy_callback)
self.img_pub = rospy.Subscriber
""" initialize the box dimensions"""
"""driving code"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 0
self.cmd.drive.steering_angle = 0
"""get the camera data from the class Zed_converter in Zed"""
self.bridge = CvBridge()
self.camera_data = Zed_converter(False, save_image=False)
self.min_value = 0
self.img_pub = rospy.Publisher('/zed/zed_node/boxes', Image)
self.msg = Image
self.factor = 0
self.cone_width = 0
self.input_data = []
self.label_data = []
self.map = None
self.l_data = None
self.lower_ind = 180
self.upper_ind = 900
self.joy_data = None
def __init__(self):
"""initalize the node"""
rospy.init_node("driveStop")
self.pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.zed_pub = rospy.Publisher(IMAGE_TOPIC, Image, queue_size=1)
self.bridge = CvBridge()
self.imageWithBoxes = None
rospy.Subscriber("scan", LaserScan, self.driveStop_car_callback)
""" initialize the box dimensions"""
#self.box_size = color_segmentation.cd_color_segmentation()
xSize = 0
ySize = 0
"""driving code"""
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 2
self.cmd.drive.steering_angle = 0
"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image=False)
self.min_value = 0
def __init__(self):
"""initalize the node"""
self.pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.sub = rospy.Subscriber("scan", LaserScan,
self.driveStop_car_callback)
##initialize the box dimensions
##driving code
self.cmd = AckermannDriveStamped()
self.cmd.drive.speed = 0
self.cmd.drive.steering_angle = 0
self.x_mid = None
self.y_bound = None
self.no_drive = False
self.phase = 0
self.results = [
None, None
] ##first pos is deviation of x box middle from center of image
##second pos is how close y box pos is bottom
"""get the camera data from the class Zed_converter in Zed"""
self.camera_data = Zed_converter(False, save_image=False)