def __init__(self):
self.evadeSet = False
self.controller = XBox360()
self.bridge = CvBridge()
self.throttle = 0
self.grid_img = None
##self.throttleLock = Lock()
print "evasion"
rospy.Subscriber("/lidargrid", Image, self.gridCB, queue_size=1)
rospy.Subscriber("/cmd_vel", TwistStamped , self.twistCB , queue_size = 1)
rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=5)
self.pub_img = rospy.Publisher("/steering_img", Image, queue_size = 1)
self.pub_twist = rospy.Publisher("/lidar_twist", TwistStamped, queue_size=1)
#self.sound = rospy.Publisher("/sound_server/speech_synth", String, queue_size=1)
rospy.init_node ('lidar_cmd',anonymous=True)
rospy.spin()
def __init__(self):
print "dataRecorder"
self.record = False
self.twist = None
self.twistLock = Lock()
self.bridge = CvBridge()
self.globaltime = None
self.controller = XBox360()
##rospy.Subscriber("/camera/depth/points" , PointCloud2, self.ptcloudCB)
rospy.Subscriber("/camera/depth/image_rect_raw_drop", Image, self.depthCB)
rospy.Subscriber("/camera/rgb/image_rect_color_drop", Image, self.streamCB)
#rospy.Subscriber("/camera/rgb/image_rect_mono_drop", Image, self.streamCB) ##for black and white images see run.launch and look at the drop fps nodes near the bottom
rospy.Subscriber("/lidargrid", Image, self.lidargridCB)
rospy.Subscriber("/cmd_vel", TwistStamped, self.cmd_velCB)
rospy.Subscriber("/joy", Joy ,self.joyCB)
self.sound = rospy.Publisher("/sound_server/speech_synth", String, queue_size=1)
rospy.init_node('dataRecorder',anonymous=True)
rospy.spin()
def __init__(self):
rospy.loginfo("runner.__init__")
# ----------------------------
self.sess = tf.InteractiveSession()
self.model = cnn_cccccfffff()
saver = tf.train.Saver()
saver.restore(self.sess,
"/home/ubuntu/catkin_ws/src/car/scripts/model.ckpt")
rospy.loginfo("runner.__init__: model restored")
# ----------------------------
self.bridge = CvBridge()
self.netEnable = False
self.controller = XBox360()
rospy.Subscriber("/camera/rgb/image_rect_color", Image, self.runCB)
rospy.Subscriber("/joy", Joy, self.joyCB)
self.pub_twist = rospy.Publisher("/neural_twist",
TwistStamped,
queue_size=1)
#self.sound = rospy.Publisher("/sound_server/speech_synth", String, queue_size=1)
rospy.init_node('neural_cmd', anonymous=True)
rospy.spin()
def __init__(self):
self.throttleInitialized = False
self.joy_timeout = 2.0
self.lid_timeout = 0.30
self.cnn_timeout = 0.1
self.joy_time = time.time()
self.lid_time = time.time()
self.cnn_time = time.time()
self.controller = XBox360()
self.joy_cmd = TwistStamped()
self.lid_cmd = TwistStamped()
self.cnn_cmd = TwistStamped()
self.cruiseControl = False
self.cruiseThrottle = 0.5
self.steeringAngle = 0.5
self.throttle = 0.5
self.trim = 0.0
##self.throttleLock = Lock()
print "cmd_control"
rospy.Subscriber("/imu", Imu, self.imuCB, queue_size=5)
rospy.Subscriber("/lidar_twist",
TwistStamped,
self.lidarTwistCB,
queue_size=5)
rospy.Subscriber("/neural_twist",
TwistStamped,
self.neuralTwistCB,
queue_size=5)
rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=5)
self.vel_pub = rospy.Publisher("/cmd_vel", TwistStamped, queue_size=1)
#self.state_pub = rospy.Publisher("/joint_states", JointState, queue_size=1)
self.sound = rospy.Publisher("/sound_server/speech_synth",
String,
queue_size=1)
rospy.init_node('cmd_control', anonymous=True)
rate = rospy.Rate(66)
while not rospy.is_shutdown():
self.cmdRouter()
rate.sleep()