import roshelper
import rospy
from std_msgs.msg import String
from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse
message = "hello world"
n = roshelper.Node("talker_and_listener", anonymous=False)
@n.publisher("/chatter", String, queue_size=1)
def talker():
hello_str = message + " %s" % rospy.get_time()
rospy.loginfo(hello_str)
return hello_str
@n.subscriber("/chatter", String)
def listener(word):
rospy.loginfo(rospy.get_caller_id() + " : I heard %s" % word.data)
@n.entry_point(frequency=30)
def main():
talker()
@n.service("use_uppercase", SetBool)
def use_uppercase(request):
assert isinstance(request, SetBoolRequest)
import roshelper
import rospy
from std_msgs.msg import String
from std_msgs.msg import Int64
from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse
n = roshelper.Node("test_node", anonymous=False)
@n.publisher("/test_node_string", String)
def str_pub(word):
rospy.loginfo("Pub --> {}".format(word))
st = String()
st.data = word[::-1]
return st
@n.publisher(Int64)
def int_pub(num):
rospy.loginfo("Int Pub --> {}".format(num))
msg = Int64()
msg.data = num
return msg
@n.subscriber("/test_node_string", String)
def str_sub(word):
rospy.loginfo("Sub --> {}".format(word))
@n.subscriber("/test_node_int", Int64)
#!/usr/bin/env python
import roshelper
# import math
import rospy
from sensor_msgs.msg import Joy
from sensor_msgs.msg import Range
from geometry_msgs.msg import TransformStamped
import csv
import time
NODE_NAME = "joystick"
n = roshelper.Node(NODE_NAME, anonymous=False)
JOY_TOPIC = "joy"
FILE_PATH = "/home/rcac/foresight_ws/src/uwb_variance/nodes/data.csv"
DISTANCES = [.5, 1]
ANGLES = [30, 60, 90]
class Buttons(object):
A = 0
B = 1
X = 2
@n.entry_point()
class JoystickCommandCenter(object):
def __init__(self):
# self.planner_enabled = False
self.last_joy = Joy()
import roshelper
n = roshelper.Node("bag_streamer", anonymous=False)
@n.entry_point()
class Republisher(object):
def __init__(self):
self.message_queue = list()
def add_message(self, msg):
self.message_queue.append(msg)
return self
def publish(self, msg):
pass
@n.main_loop(frequency=100)
def run(self):
mq = self.message_queue[:]
for msg in mq:
self.publish(msg)
