import br_cam
from br_control import RovCon
from time import sleep
def input_speed(new_speed):
while True:
new_speed = raw_input('speed: ')
new_speed = float(new_speed)
if __name__ == '__main__':
try:
# open file to save ROS server address
# initiate rover connection and video streaming
rover = RovCon()
# rover_video = br_cam.RovCam(rover.return_data())
rospy.init_node('br_single_control')
# distance = 0.5 # feet
speed = 0.015
i = 0
while not rospy.is_shutdown():
while i < 1/speed:
rover.move_forward()
rover.stop_tracks()
sleep(speed) # manually given image frame rate
i = i + 1
i = 0
speed = raw_input('speed: ')
import argparse
parser = argparse.ArgumentParser('br_single_control')
parser.add_argument('file', type=str, default=None,
help='temporary file to store server uri')
parser.add_argument('robot_address', type=str, default=None,
help='address of NICs connect to robots')
arg = parser.parse_args()
if __name__ == '__main__':
try:
#TODO: change the local host part to a normal address
# for now the wanted address is exported manually in the
# .bashrc file
# initiate rover connection and video streaming
rover = RovCon(arg.robot_address)
rover_video = br_cam.RovCam(rover.return_data())
# publish robot camera data
pub = rospy.Publisher('/output/image_raw/compressed'+
arg.robot_address.split('.')[3], CompressedImage,
queue_size=100)
rospy.init_node('robot'+arg.robot_address.split('.')[3])
# distance = 0.5 # feet
# speed = 1 # foot/sec
# obtain published move command
#TODO: also obtain speed and distance
rospy.Subscriber("move", String, rover.set_move)
# thread to run the subscriber
from threading import Thread
