def cbSrvSetLimit(self, req):
self.limit = self.setLimit(req.value)
self.printValues()
self.msg_actuator_limits.v = self.v_max # TODO: Calculate v_max !
self.msg_actuator_limits.omega = self.omega_max # TODO: Calculate omega_max !
self.pub_actuator_limits.publish(self.msg_actuator_limits)
return SetValueResponse()
def get_destination(req):
self.target = int(req.value)
return SetValueResponse()
def stop_duckiebot():
self.duckiebot_set_k(100)
rospy.loginfo("Stopping for leaving or get a duckie!!")
def go_duckiebot():
self.duckiebot_set_k(27)
rospy.loginfo("I'm on my Way!")
def cbSrvSetkEncRes(self, req):
self.kEncRes = req.value
self.updatekMaxPPMS()
return SetValueResponse()
def cbSrvSetLimit(self, req):
self.limit = self.setLimit(req.value)
self.printValues()
return SetValueResponse()
def cbSrvSetK(self, req):
self.k = req.value
self.printValues()
return SetValueResponse()
def cbSrvSetRadius(self, req):
self.radius = req.value
self.printValues()
return SetValueResponse()
def cbSrvSetBaseline(self, req):
self.baseline = req.value
self.printValues()
return SetValueResponse()
def cbSrvSetTrim(self, req):
self.trim = req.value
self.printValues()
return SetValueResponse()
def cbSrvSetTrim(self, req):
self.trim = req.value
self.printValues()
self.msg_actuator_params.trim = self.trim
self.pub_actuator_params.publish(self.msg_actuator_params)
return SetValueResponse()
def cbSrvSetLimit(self, req):
self.limit = self.setLimit(req.value)
self.printValues()
self.msg_actuator_params.limit = self.limit
self.pub_actuator_params.publish(self.msg_actuator_params)
return SetValueResponse()
def cbSrvSetK(self, req):
self.k = req.value
self.printValues()
self.msg_actuator_params.k = self.k
self.pub_actuator_params.publish(self.msg_actuator_params)
return SetValueResponse()
def cbSrvSetRadius(self, req):
self.radius = req.value
self.printValues()
self.msg_actuator_params.radius = self.radius
self.pub_actuator_params.publish(self.msg_actuator_params)
return SetValueResponse()
def cbSrvSetBaseline(self, req):
self.baseline = req.value
self.printValues()
self.msg_actuator_params.baseline = self.baseline
self.pub_actuator_params.publish(self.msg_actuator_params)
return SetValueResponse()
def cbSrvSetkSmpTime(self, req):
self.kSmpTime = req.value
self.updatekMaxPPMS()
self.ps.updatekSmpTime(self.kSmpTime)
return SetValueResponse()
def cbSrvSetGain(self, req):
self.gain = req.value
self.printValues()
return SetValueResponse()
def cbSrvSetkMaxVel(self, req):
self.kMaxVel = req.value
self.updatekMaxPPMS()
return SetValueResponse()
def cbSrvSetGain(self, req):
self.gain = req.value
self.printValues()
self.msg_actuator_params.gain = self.gain
self.pub_actuator_params.publish(self.msg_actuator_params)
return SetValueResponse()
