Python loadModule Beispiele

Beispiel #1

import nrtlib
import os

nrtlib.loadModule(logicalpath="/Robotics/Drivers/HermesModule",
                  bbnick="local",
                  instancename='CoolHermes',
                  parameters={'serialdev': '/dev/rfcomm0'},
                  subscribertopicfilters={'VelocityCommand': 'HermesVelocity'},
                  position=(200, 0))

nrtlib.loadModule(logicalpath="/Robotics/Utils/iNRTJoystickModule",
                  bbnick="local",
                  instancename='MyiPhone',
                  postertopics={'VelocityCommand': 'HermesVelocity'},
                  position=(-200, 200))

#nrtlib.loadModule(
#		logicalpath="/Robotics/Utils/ThreeSixtyControllerModule",
#		bbnick="local",
#		instancename = 'MySixAxis',
#		parameters = {'joystickdev': '/dev/input/js1'},
#		postertopics = {'VelocityCommand' : 'HermesVelocity'},
#		position = (-200, 0))

Beispiel #2

Datei: test-joystick.py Projekt: wpfhtl/nrt-modules

#!/usr/bin/env python
import nrtlib

nrtlib.loadModule(
  logicalpath  = '/Robotics/Utils/TransformManagerModule',
  bbnick       = 'hermes',
  parameters = {
    'maxCacheSize' : '1000',
    'maxCacheTime' : '30',
  },
  subscribertopicfilters = {
    'TransformUpdatePort' : 'Auto000001|Auto000002',
    'TransformLookupPort' : 'Auto000003',
  },
  position = (978, -243),
)

nrtlib.loadModule(
  logicalpath  = '/Robotics/Utils/TransformPosterModule',
  bbnick       = 'hermes',
  parameters = {
    'from' : 'world',
    'rate' : '0',
    'to' : 'robot',
    'transform' : '0,0,0,0,0,0',
  },
  postertopics = {
    'TransformUpdate' : 'Auto000002',
  },
  position = (230, -430),
)

Beispiel #3

Datei: loadHermesSensing.py Projekt: USCiLab/nrt-modules

#!/usr/bin/env python
import nrtlib

nrtlib.loadModule(
  logicalpath  = '/Robotics/Utils/TransformPosterModule',
  bbnick       = 'hermes',
  instancename = 'Robot2KinectTransformer',
  parameters = {
    'from' : 'robot',
    'rate' : '1',
    'to' : 'kinect',
    'transform' : '-0.2,0,.32,0,1.67,1.6',
  },
  postertopics = {
    'TransformUpdate' : 'Robot2KinectTransform',
  },
  position = (70, 815),
)

nrtlib.loadModule(
  logicalpath  = '/Robotics/PointCloud/PointCloud2OccupancyModule',
  bbnick       = 'hermes',
  parameters = {
    'lowerthreshold' : '0.20000000000000001',
    'mapdims' : '8x8',
    'pixelspermeter' : '10',
    'shadows' : '128',
    'upperthreshold' : '3',
  },
  subscribertopicfilters = {
    'PointCloudInput' : 'WorldPointCloud',

Beispiel #4

Datei: loadHermes.py Projekt: USCiLab/nrt-modules

import nrtlib
import os

nrtlib.loadModule(
		logicalpath="/Robotics/Drivers/HermesModule",
		bbnick="local",
		instancename = 'CoolHermes',
		parameters = {'serialdev' : '/dev/rfcomm0'},
		subscribertopicfilters = {'VelocityCommand' : 'HermesVelocity'},
		position = (200, 0))

nrtlib.loadModule(
		logicalpath="/Robotics/Utils/iNRTJoystickModule",
		bbnick="local",
		instancename = 'MyiPhone',
		postertopics = {'VelocityCommand' : 'HermesVelocity'},
		position = (-200, 200))

#nrtlib.loadModule(
#		logicalpath="/Robotics/Utils/ThreeSixtyControllerModule",
#		bbnick="local",
#		instancename = 'MySixAxis',
#		parameters = {'joystickdev': '/dev/input/js1'},
#		postertopics = {'VelocityCommand' : 'HermesVelocity'},
#		position = (-200, 0))

Beispiel #5

Datei: test-hermes-joystick.py Projekt: wpfhtl/nrt-modules

#!/usr/bin/env python
import nrtlib

nrtlib.loadModule(
    logicalpath='/Robotics/Drivers/HermesModule',
    bbnick='hermes',
    parameters={
        'baseframe': 'world',
        'odomframe': 'odometry',
        'serialdev': '/dev/ttyUSB0',
    },
    subscribertopicfilters={
        'VelocityCommand': 'Auto000000',
    },
    postertopics={
        'OdometryUpdatePort': '',
        'CompassZ': '',
        'GyroZ': '',
    },
    position=(52, -95),
)

nrtlib.loadModule(
    logicalpath='/Robotics/Utils/iNRTJoystickModule',
    bbnick='hermes',
    parameters={
        'maxangular': '1',
        'maxlinear': '1',
        'port': '61557',
        'webview': 'http://google.com/',
    },

Beispiel #6

Datei: loadHermesSensing.py Projekt: wpfhtl/nrt-modules

#!/usr/bin/env python
import nrtlib

nrtlib.loadModule(
    logicalpath='/Robotics/Utils/TransformPosterModule',
    bbnick='hermes',
    instancename='Robot2KinectTransformer',
    parameters={
        'from': 'robot',
        'rate': '1',
        'to': 'kinect',
        'transform': '-0.2,0,.32,0,1.67,1.6',
    },
    postertopics={
        'TransformUpdate': 'Robot2KinectTransform',
    },
    position=(70, 815),
)

nrtlib.loadModule(
    logicalpath='/Robotics/PointCloud/PointCloud2OccupancyModule',
    bbnick='hermes',
    parameters={
        'lowerthreshold': '0.20000000000000001',
        'mapdims': '8x8',
        'pixelspermeter': '10',
        'shadows': '128',
        'upperthreshold': '3',
    },
    subscribertopicfilters={
        'PointCloudInput': 'WorldPointCloud',

Beispiel #7

Datei: test-hermes-joystick.py Projekt: USCiLab/nrt-modules

#!/usr/bin/env python
import nrtlib

nrtlib.loadModule(
  logicalpath  = '/Robotics/Drivers/HermesModule',
  bbnick       = 'hermes',
  parameters = {
    'baseframe' : 'world',
    'odomframe' : 'odometry',
    'serialdev' : '/dev/ttyUSB0',
  },
  subscribertopicfilters = {
    'VelocityCommand' : 'Auto000000',
  },
  postertopics = {
    'OdometryUpdatePort' : '',
    'CompassZ' : '',
    'GyroZ' : '',
  },
  position = (52, -95),
)

nrtlib.loadModule(
  logicalpath  = '/Robotics/Utils/iNRTJoystickModule',
  bbnick       = 'hermes',
  parameters = {
    'maxangular' : '1',
    'maxlinear' : '1',
    'port' : '61557',
    'webview' : 'http://google.com/',
  },