# Creates an Enable Service
enable_service = node.createService("~enable", SetBool, serviceCallback)
# Remote Service
remote_name = "ping" if "pong" in node.getName() else "pong"
remote_enable_service = node.getServiceProxy(remote_name + "/enable", SetBool)
# start
start_time = 0.0
start_offset = 0.0 if "ping" in node.getName() else math.pi
# Main Loop
while node.isActive():
# Generates new Float message
value = Float32()
value.data = math.sin(node.getElapsedTimeInSecs() * 2 * math.pi * 0.2 -
start_offset)
# Publish if enabled
if enabled:
Logger.warning("{} -> {}".format(node.getName(), value.data))
output_publisher.publish(value)
if value.data < 0:
remote_enable_service(True)
enabled = False
else:
output_publisher.publish(Float32(0.0))
node.tick()
for t, msg_type in topic_map.iteritems():
topic = str(t)
container_map[topic] = {'value': None}
data_map[topic] = []
callback_map[topic] = CallbackManager.createACallback(topic)
node.createSubscriber(topic, msg_type, callback_map[topic])
for tf in tf_list:
datatf_map[tf] = []
print("Started")
while node.isActive():
if node.getElapsedTimeInSecs() >= node.getParameter("time_window"):
print("Time Window")
break
try:
found = True
tf_frames = {}
for tf in tf_list:
tf_frame = node.retrieveTransform(
tf, tf_base, -1)
if tf_frame != None:
tf_frames[tf] = tf_frame
else:
found = False
break
if found:
#⬢⬢⬢⬢⬢➤ NODE
node = RosNode("ui_slave_example")
node.setHz(2)
flag1 = True
# Receive Data From Ui
def eventCallback(evt):
global flag1
print("*** New Event Received ***")
print(evt)
if evt.name == "flag1":
flag1 = evt.value > 0
ui_proxy = UiProxy()
ui_proxy.registerApplicationCallback(eventCallback)
while node.isActive():
s = 100 * math.sin(node.getElapsedTimeInSecs() * 1)
if flag1:
# Send data to UI
ui_proxy.sendDataToUi("label", s)
node.tick()