def sendLEDs(): led = Led() if (stopMode): led.value = 3 else: led.value = 1 pubLED.publish(led)
def light(self): """ Flashes the light on the robot (useful for checking connection or for raves) """ #r: var used to control the flashing frequenzy in hz # cmd: data structure for the led() information, for more information refer to msg docs on Led() #create a publisher which talks to the lights #rate at chich to publish r = rospy.Rate(10); #create the message to the node cmd = Led() #set value cmd.value = 1 t = 10 while not rospy.is_shutdown() and t > 0: cmd.value = 1 #publish the message self.led1.publish(cmd) rospy.loginfo("published the info to the node") r.sleep() cmd.value = 3 self.led1.publish(cmd) r.sleep() t = t-1 rospy.sleep(1)
def mitsos(): pub = rospy.Publisher('/mobile_base/commands/led1', Led, queue_size=10) rospy.init_node('talker', anonymous=True) rate = rospy.Rate(10) # 10hz rate1 = rospy.Rate(1) while not rospy.is_shutdown(): z=0 while z < 5: ledstate = Led() ledstate.value = 1 pub.publish(ledstate) z += 0.1 print(z) rate.sleep() y=0 while y < 5: ledstate = Led() ledstate.value = 0 pub.publish(ledstate) y += 0.5 print(y) rate1.sleep()
def cleanUp(): global currentCommand currentCommand.linear.x = 0.0 currentCommand.angular.z = 0.0 led = Led() led.value = 0 pubLED.publish(led) pub.publish(currentCommand) rospy.sleep(1)
def callback(data): rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.linear) pub = rospy.Publisher('/mobile_base/commands/led1', Led, queue_size=10) print "L I N E A R" print data.linear.x if data.linear.x == 0.1: ledstate = Led() ledstate.value = 1 ledstate.value = 2 pub.publish(ledstate) else: ledstate = Led() ledstate.value = 0 pub.publish(ledstate)
def sendLEDs(): rospy.init_node('leds_sender', anonymous=True) pub1 = rospy.Publisher('/mobile_base/commands/led1', Led, queue_size=10) pub2 = rospy.Publisher('/mobile_base/commands/led2', Led, queue_size=10) while pub1.get_num_connections() == 0 or pub2.get_num_connections() == 0: pass led = Led() x = 3 while x != -1: led.value = x pub1.publish(led) x = x - 1 rospy.sleep(1) x = 3 while x != -1: led.value = x pub2.publish(led) x = x - 1 rospy.sleep(1)
def ledUpdate(value): global pub_led1 led = Led() led.value = value pub_led1.publish(value)
def disable_LEDs(self): msg = Led() msg.value = Led.BLACK for pub in self.led_publishers: pub.publish(msg)
def enable_LEDs(self): msg = Led() msg.value = Led.GREEN for pub in self.led_publishers: pub.publish(msg)
#!/usr/bin/env python import rospy from kobuki_msgs.msg import Led if __name__ == '__main__': rospy.init_node("checkpoint1_3_2_led_python", anonymous=True) pub = rospy.Publisher("/mobile_base/commands/led1", Led, queue_size=1) rospy.sleep(1) msg = Led() for i in range(3): msg.value = i + 1 rospy.loginfo("publish msg [value: %d]" % (msg.value)) pub.publish(msg) rospy.sleep(1) msg.value = 0 rospy.loginfo("publish msg [value: %d]" % (msg.value)) pub.publish(msg)
print goal rospy.wait_for_service('goal_nav_service') driveToGoal = rospy.ServiceProxy('goal_nav_service', GoToGoal) response = driveToGoal(goal[0], goal[1]) if (response.status == 0): break print "done with current frontier" preexplorationMove() print "identifying new frontiers" frontiersList = identifyFrontiers() #call("spd-say 'I'm done.'"); i = 1 ledmsg = Led() while (not rospy.is_shutdown()): print "DONE EXPLORING" if ((i % 2) == 0): ledmsg.value = 0 else: ledmsg.value = (i + 1) / 2 i += 1 i = i % 6 led1Pub.publish(ledmsg) led2Pub.publish(ledmsg) time.sleep(0.5) ledmsg.value = 0 led1Pub.publish(ledmsg) led2Pub.publish(ledmsg)
print goal rospy.wait_for_service('goal_nav_service') driveToGoal = rospy.ServiceProxy('goal_nav_service', GoToGoal) response = driveToGoal(goal[0], goal[1]) if (response.status == 0): break print "done with current frontier" preexplorationMove() print "identifying new frontiers" frontiersList = identifyFrontiers() #call("spd-say 'I'm done.'"); i = 1 ledmsg = Led() while (not rospy.is_shutdown()): print "DONE EXPLORING" if ((i%2) == 0): ledmsg.value = 0 else: ledmsg.value = (i+1)/2 i += 1 i = i%6 led1Pub.publish(ledmsg) led2Pub.publish(ledmsg) time.sleep(0.5) ledmsg.value = 0 led1Pub.publish(ledmsg) led2Pub.publish(ledmsg)