def __init__(self):
self.state = 0
self.vel_topic = '/cmd_vel'
self.scan_topic = '/depth'
self.cmd_pub = Twist_float()
#Initialize default variables
self.angle_diff_prev = 0
self.kp = 1.1
self.kd = 0.00
self.error_prev = 0.0
self.turn_right = False
self.rurn_left = False
self.min_angle = 0.15
self.max_angle = 0.7
self.angle_range = self.max_angle - self.min_angle
self.depth_max = 6.0
self.depth_min = 0.0
self.right_default = 2.5
self.turn_flag = False
#create publisher passing it the vel_topic_name and msg_type
self.pub = rospy.Publisher(self.vel_topic, Twist_float, queue_size = 10)
#create subscriber
self.scan_sub = rospy.Subscriber(self.scan_topic, Depth_real, self.scan_callback)
def on_enter(self, userdata):
Logger.loginfo("Drive FWD STARTED!")
#set robot speed here
self.cmd_pub = Twist_float()
self.cmd_pub.vel = self._speed
self.cmd_pub.angle = 0.0
self._start_time = rospy.Time.now()
def on_enter(self, userdata):
Logger.loginfo("Turn RIGHT STARTED!")
#set robot speed here
self.cmd_pub = Twist_float()
self.cmd_pub.vel = self._t_speed
self.cmd_pub.angle = self._turn_angle
self._start_time = rospy.Time.now()
def __init__(self, topic):
self.topic = topic
self.bridge = CvBridge()
self.sub = rospy.Subscriber(topic, msg_Image, self.imageDepthCallback)
self.pub = rospy.Publisher('/cmd_vel', Twist_float, queue_size=1)
self.msg = Twist_float()
self.rate = rospy.Rate(0.2)
self.count = 0
def __init__(self, topic):
self.topic = topic
self.bridge = CvBridge()
self.sub = rospy.Subscriber(topic, msg_Image, self.imageDepthCallback)
self.pub = rospy.Publisher('/cmd_vel', Twist_float, queue_size=1)
self.msg = Twist_float()
self.follow_corridor = my_follow_corridor.HandCodedLaneFollower()
def __init__(self, sub_topic_name = '/cmd_vel'):
# publisher
self._drive_publisher = rospy.Publisher('/pololu/command', MotorCommand, queue_size=1)
# subscriber
self._sub_topic_name = sub_topic_name
self._twist_subscriber = rospy.Subscriber( self._sub_topic_name, Twist_float, self.topic_callback)
# get message
self._drive_msg_motor = MotorCommand()
self._drive_msg_steering = MotorCommand()
self._twist_msg = Twist_float()
def __init__(self, topic):
self.waitInterval = 0
self.topic = topic
self.bridge = CvBridge()
self.centerDepth = 3000
self.turnOne = False
self.turnTwo = False
self.sub = rospy.Subscriber(topic, msg_Image, self.imageDepthCallback)
self.pub = rospy.Publisher('/cmd_vel', Twist_float, queue_size=1)
self.msg = Twist_float()
self.thresh1 = 100
self.thresh2 = 200
self.state = 0
def __init__(self):
self.vel_topic = '/cmd_vel'
self.scan_topic = '/scan'
self.cmd_pub = Twist_float()
self.angle_diff_prev = 0
self.kp = 0.01
self.kd = 0.01
self.scale = 0
#create publisher passing it the vel_topic_name and msg_type
self.pub = rospy.Publisher(self.vel_topic, Twist_float, queue_size = 10)
#create subscriber
self.scan_sub = rospy.Subscriber(self.scan_topic, Depth, self.scan_callback)
def __init__(self):
self.vel_topic = '/cmd_vel'
self.scan_topic = '/depth'
self.cmd_pub = Twist_float()
self.angle_diff_prev = 0
self.kp = 0.9
self.kd = 0.01
self.scale = 1
self.turn_right = False
self.rurn_left = False
self.min_angle = 0.15
self.max_angle = 0.7
#create publisher passing it the vel_topic_name and msg_type
self.pub = rospy.Publisher(self.vel_topic, Twist_float, queue_size=10)
#create subscriber
self.scan_sub = rospy.Subscriber(self.scan_topic, Depth_real,
self.scan_callback)
def __init__(self):
self._proportional_turning_constant = 0.01
self._angle_diff_thresh = None
self.depthPrev = 1500
self.center = 2500
self.thresh = 0
self.jerkThresh = 800
self.jerkRight = False
self.jerkLeft = False
self.vel_topic = '/cmd_vel'
self.scan_topic = '/scan'
self.turn_right = False
self.go_straight = False
self.turn_left = False
self.cmd_pub = Twist_float()
#create publisher passing it the vel_topic_name and msg_type
self.pub = rospy.Publisher(self.vel_topic, Twist_float, queue_size = 10)
#create subscriber
self.scan_sub = rospy.Subscriber(self.scan_topic, LaserScan, self.scan_callback)