Example #1
0
def relayboard_sim():
    rospy.init_node('cob_relayboard_sim')

    # emergency_stop topic
    pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
    msg_em = EmergencyStopState()
    msg_em.emergency_button_stop = False
    msg_em.scanner_stop = False
    msg_em.emergency_state = 0

    # power_board/state topic
    pub_power_board = rospy.Publisher('/power_board/state', PowerBoardState)
    msg_power_board = PowerBoardState()
    msg_power_board.header.stamp = rospy.Time.now()
    msg_power_board.run_stop = True
    msg_power_board.wireless_stop = True  #for cob the wireless stop field is misused as laser stop field

    # power_board/voltage topic
    pub_voltage = rospy.Publisher('/power_board/voltage', Float64)
    msg_voltage = Float64()
    msg_voltage.data = 48.0  # in simulation battery is always full

    while not rospy.is_shutdown():
        pub_em_stop.publish(msg_em)
        pub_power_board.publish(msg_power_board)
        pub_voltage.publish(msg_voltage)
        rospy.sleep(1.0)
Example #2
0
def relayboard_sim():
	rospy.init_node('cob_relayboard_sim')

	# emergency_stop topic
	pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
	msg_em = EmergencyStopState()
	msg_em.emergency_button_stop = False
	msg_em.scanner_stop = False
	msg_em.emergency_state = 0

	# power_board/state topic
	pub_power_board = rospy.Publisher('/power_board/state', PowerBoardState)
	msg_power_board = PowerBoardState()
	msg_power_board.header.stamp = rospy.Time.now()
	msg_power_board.run_stop = True
	msg_power_board.wireless_stop = True #for cob the wireless stop field is misused as laser stop field

	# power_board/voltage topic
	pub_voltage = rospy.Publisher('/power_board/voltage', Float64)
	msg_voltage = Float64()
	msg_voltage.data = 48.0 # in simulation battery is always full

	while not rospy.is_shutdown():
		pub_em_stop.publish(msg_em)
		pub_power_board.publish(msg_power_board)
		pub_voltage.publish(msg_voltage)
		rospy.sleep(1.0)
Example #3
0
def talker():
    pub = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
    rospy.init_node('cob_relayboard_sim')
    em = EmergencyStopState()
    em.emergency_button_stop = False
    em.scanner_stop = False
    em.emergency_state = 0
    while not rospy.is_shutdown():
        pub.publish(em)
        rospy.sleep(1.0)
Example #4
0
def relayboard_sim():
    rospy.init_node('cob_relayboard_sim')

    # emergency_stop topic
    pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
    msg_em = EmergencyStopState()
    msg_em.emergency_button_stop = False
    msg_em.scanner_stop = False
    msg_em.emergency_state = 0

    # power_state topic
    #pub_power = rospy.Publisher('/power_state', PowerState)
    #msg_power = PowerState()
    #msg_power.header.stamp = rospy.Time.now()
    #msg_power.time_remaining.secs = 1000
    #msg_power.relative_capacity = 70

    while not rospy.is_shutdown():
        pub_em_stop.publish(msg_em)
        #pub_power.publish(msg_power) comes already out of gazebo
        rospy.sleep(1.0)
Example #5
0
def relayboard_sim():
    rospy.init_node("cob_relayboard_sim")

    # emergency_stop topic
    pub_em_stop = rospy.Publisher("/emergency_stop_state", EmergencyStopState)
    msg_em = EmergencyStopState()
    msg_em.emergency_button_stop = False
    msg_em.scanner_stop = False
    msg_em.emergency_state = 0

    # power_state topic
    # pub_power = rospy.Publisher('/power_state', PowerState)
    # msg_power = PowerState()
    # msg_power.header.stamp = rospy.Time.now()
    # msg_power.time_remaining.secs = 1000
    # msg_power.relative_capacity = 70

    while not rospy.is_shutdown():
        pub_em_stop.publish(msg_em)
        # pub_power.publish(msg_power) comes already out of gazebo
        rospy.sleep(1.0)