def initialize():
BB.Initialize(2100, fmap)
BB.Start()
BB.SetReady(True)
BB.SubscribeToSharedVar('recognizedSpeech',mySubscriptionHandler)
BB.SubscribeToSharedVar('hypothesizedSpeech',myHandlerHypothesis)
def initialize():
BB.Initialize(2100, fmap)
BB.Start()
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'actuator')
BB.WriteSharedVar(BB.SharedVarTypes.STRING, 'actuator', 'initial_value')
BB.SubscribeToSharedVar('actuator',ActuatorHandler, subscriptionType='writeothers', reportType='content')
BB.SetReady(True)
def main():
BB.Initialize(2003)
BB.Start()
BB.SetReady(True)
BB.SubscribeToSharedVar('test_string', printingFunc)
print 'Waiting for shared variable updates...'
BB.Wait()
def Initialize():
BB.Initialize(2030, fmap)
BB.Start()
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'interface')
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'smarthause')
BB.SubscribeToSharedVar('smarthause',
LamparaHandler,
subscriptionType='writeothers',
reportType='content')
BB.SetReady()
def __init__(self, sharedVarName, bbVarType):
"""Constructor
Creates a new BB2ROSPublisher Object.
Receives:
shredVarName: Name of the shared var to bridge.
bbVarType: The type of the var.
"""
self.sharedVarName = sharedVarName
try:
#get the msg data type for ros publisher and subscriber
self.bbVarType = bbVarType
self.rosMsgType = bridge_utils.BB2ROS_TYPE_MAP[self.bbVarType][1]
#create the corresponding ros publisher to update the ROS topic when updated the BB shared var
self.rosPublisher = rospy.Publisher(self.sharedVarName,
self.rosMsgType,
queue_size=1000)
rospy.logdebug('ROS publisher "' + str(self.rosMsgType) +
'" for "' + str(sharedVarName) + '" created.')
except:
rospy.logwarn('No ROS msg type associated with "' +
str(bbVarType) +
'" BB SV type. Using default association.')
#get the default msg data type for ros publisher and subscriber
self.bbVarType = 'default'
self.rosMsgType = bridge_utils.BB2ROS_TYPE_MAP[self.bbVarType][1]
#create the corresponding ros publisher to update the ROS topic when updated the BB shared var
self.rosPublisher = rospy.Publisher(self.sharedVarName,
self.rosMsgType,
queue_size=1000)
rospy.logdebug('ROS publisher "' + str(self.rosMsgType) +
'" for "' + str(sharedVarName) + '" created.')
#create a subscriber to read the values of the BB shared var
BB.SubscribeToSharedVar(self.sharedVarName, self.bridge_SV_data)
#read the value of the shared var from BB and publish it to ROS
self.pass_var_value()