def __init__(self):
self.server_robot = ServerRobot()
rospy.init_node('robot_server', anonymous=False)
rospy.Subscriber('robot_command_json',
MsgRobotCommand,
self.callback,
queue_size=None)
def __init__(self):
rospy.init_node('robot_service_server', anonymous=False)
self.service = rospy.Service('robot_send_command', SrvRobotCommand,
self.cb_robot_command)
robot_ip = rospy.get_param('~robot_ip', '192.168.30.4')
self.server_robot = ServerRobot()
self.server_robot.connect(robot_ip)
rospy.on_shutdown(self.server_robot.disconnect)
rospy.spin()
def __init__(self):
rospy.init_node('robot_service_server', anonymous=False)
self.service = rospy.Service(
'robot_send_command', SrvRobotCommand, self.cb_robot_command)
robot_ip = rospy.get_param('~robot_ip', '192.168.30.4')
self.server_robot = ServerRobot()
self.server_robot.connect(robot_ip)
rospy.on_shutdown(self.server_robot.disconnect)
rospy.spin()
class NdRobotServer():
def __init__(self):
rospy.init_node('robot_service_server', anonymous=False)
self.service = rospy.Service(
'robot_send_command', SrvRobotCommand, self.cb_robot_command)
robot_ip = rospy.get_param('~robot_ip', '192.168.30.4')
self.server_robot = ServerRobot()
self.server_robot.connect(robot_ip)
rospy.on_shutdown(self.server_robot.disconnect)
rospy.spin()
def cb_robot_command(self, data):
rospy.loginfo(rospy.get_caller_id() + " I heard %s", data.command)
if data.command[2:10] == 'get_pose':
pose_rob = self.server_robot.proc_command(data.command)
return SrvRobotCommandResponse(str(pose_rob))
self.server_robot.proc_command(data.command)
return SrvRobotCommandResponse("OK")
class NdRobotServer():
def __init__(self):
rospy.init_node('robot_service_server', anonymous=False)
self.service = rospy.Service('robot_send_command', SrvRobotCommand,
self.cb_robot_command)
robot_ip = rospy.get_param('~robot_ip', '192.168.30.4')
self.server_robot = ServerRobot()
self.server_robot.connect(robot_ip)
rospy.on_shutdown(self.server_robot.disconnect)
rospy.spin()
def cb_robot_command(self, data):
rospy.loginfo(rospy.get_caller_id() + " I heard %s", data.command)
if data.command[2:10] == 'get_pose':
pose_rob = self.server_robot.proc_command(data.command)
return SrvRobotCommandResponse(str(pose_rob))
self.server_robot.proc_command(data.command)
return SrvRobotCommandResponse("OK")
class SubRobotServer():
def __init__(self):
self.server_robot = ServerRobot()
rospy.init_node('robot_server', anonymous=False)
rospy.Subscriber('robot_command_json',
MsgRobotCommand,
self.callback,
queue_size=None)
def callback(self, data):
rospy.loginfo(rospy.get_caller_id() + " I heard %s", data.command)
self.server_robot.proc_command(data.command)
rospy.loginfo(rospy.get_caller_id() + " Processed %s", data.command)
def connect(self, ip="172.20.0.32"):
if rospy.has_param("configuration/robot_ip"):
ip = rospy.get_param("configuration/robot_ip")
self.server_robot.connect(ip)
def listener(self):
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def close_connection(self):
self.server_robot.disconnect()
class SubRobotServer():
def __init__(self):
self.server_robot = ServerRobot()
rospy.init_node('robot_server', anonymous=False)
rospy.Subscriber('robot_command_json', MsgRobotCommand,
self.callback, queue_size=None)
def callback(self, data):
rospy.loginfo(rospy.get_caller_id() + " I heard %s", data.command)
self.server_robot.proc_command(data.command)
rospy.loginfo(rospy.get_caller_id() + " Processed %s", data.command)
def connect(self, ip="172.20.0.32"):
if rospy.has_param("configuration/robot_ip"):
ip = rospy.get_param("configuration/robot_ip")
self.server_robot.connect(ip)
def listener(self):
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def close_connection(self):
self.server_robot.disconnect()
def __init__(self):
self.server_robot = ServerRobot()
rospy.init_node('robot_server', anonymous=False)
rospy.Subscriber('robot_command_json', MsgRobotCommand,
self.callback, queue_size=None)