def test_byte_msg():
msg = Byte()
msg.data = b'\x10'
parsed_msg = json_to_msg(msg_to_json(msg), Byte())
assert parsed_msg.data == msg.data
def callback_enc_dx(channel):
global dir_dx
global tick_dx_pub
global v_input_dx
global v_input_sx
if ((v_input_dx != 0) or (v_input_sx != 0)):
enc_msg = Byte()
enc_msg.data = dir_dx
tick_dx_pub.publish(enc_msg)
try:
print(msg)
while (1):
key = getKey()
if key in pinBindings.keys():
value = pinBindings[key]
else:
value = 0
if (key == '\x03'):
break
packet = Byte()
packet.data = value
pub.publish(packet)
packet.data = 0
pub.publish(packet)
print(Pots.pot1)
except Exception as e:
print(e)
finally:
packet = Byte()
value = 0
packet.data = value
pub.publish(packet)
def send_byte(self, data):
msg = Byte()
msg.data = data
self.publisher_.publish(msg)
self.get_logger().info('Publishing: "%s"' % msg.data)
motor_rate_sub = rospy.Subscriber('/mip_rover/motors/rates', MotorRate,
motor_rate_handler)
motor_cmd_pub = rospy.Publisher('/mip_rover/motors/cmd',
MotorCmd,
queue_size=10)
green_led_pub = rospy.Publisher('/mip_rover/leds/green',
Byte,
queue_size=10)
rate = rospy.Rate(4)
motor_cmd = MotorCmd()
motor_cmd.left_motor = 0
motor_cmd.right_motor = 0
green_led_cmd = Byte()
green_led_cmd.data = 0
while not rospy.is_shutdown():
print('{:d} {:d} {:f} {:f}'.format(motor_cmd.left_motor,
motor_cmd.right_motor,
current_left_motor_rate,
current_right_motor_rate))
green_led_pub.publish(green_led_cmd)
motor_cmd.header.stamp = rospy.Time.now()
motor_cmd_pub.publish(motor_cmd)
motor_cmd.left_motor += 10
motor_cmd.right_motor += 10
green_led_cmd.data = green_led_cmd.data == 0
if motor_cmd.left_motor > motor_cmd_scale or motor_cmd.right_motor > motor_cmd_scale:
break
rate.sleep()