def callback(data):
"""
If there's a request for an individual thruster to be moved (handy for debug), we receive it and
handle it.
"""
if data.executor.lower() == "individual_thruster_control":
msg = arbitrary_pca_commands()
msg.set_thruster = True
msg.set_channel_pwm = False
msg.set_channel_pwm_send_count = False
msg.thruster = data.string
msg.pwm = data.float
publisher.publish(msg)
if data.executor.lower() == "kill_thruster":
msg = arbitrary_pca_commands()
msg.kill_thruster = True
msg.thruster = data.string
publisher.publish(msg)
if data.executor.lower() == "unkill_thruster":
msg = arbitrary_pca_commands()
msg.unkill_thruster = True
msg.thruster = data.string
publisher.publish(msg)
def callback(data):
"""
Is this the stepper we've been told to deal with? If so, deal with it here.
"""
if data.executor.lower() == Name.lower():
msg = arbitrary_pca_commands()
msg.set_thruster = False
msg.set_channel_pwm = False
msg.set_channel_pwm_send_count = True
msg.channel = Channel
msg.count = data.int32
publisher.publish(msg)
You should have received a copy of the GNU General Public License
along with Enbarr. If not, see <https://www.gnu.org/licenses/>.
"""
import rospy
import argparse
from auv.msg import arbitrary_pca_commands
publisher = rospy.Publisher('arbitrary_pca_commands',
arbitrary_pca_commands,
queue_size=3)
rospy.init_node('pca_stepper', anonymous=True)
parser = argparse.ArgumentParser(
"Send a thruster un-kill command over the /surface_command topic.")
parser.add_argument('channel',
type=int,
help='The name of the thruster to be used here.')
parser.add_argument('steps',
type=int,
help='The number of rising edges to spit out here.')
args = parser.parse_args(rospy.myargv()[1:])
command = arbitrary_pca_commands()
command.set_channel_pwm_send_count = True
command.channel = args.channel
command.count = args.steps
publisher.publish(command)