class System:
def __init__(self):
print('Hello')
self.robot = Robot()
# self.camera = Camera()
rospy.Subscriber("/key_vel", Twist, self.keyCallback, queue_size=10)
def keyCallback(self, data):
if data.angular.z > 0:
self.robot.left()
elif data.angular.z < 0:
self.robot.right()
elif data.linear.x > 0:
self.robot.down()
elif data.linear.x < 0:
self.robot.up()
def main():
# We need to initalize ROS environment for Robot and camera to connect/communicate
ROSEnvironment()
# Initalize robot
robot = Robot()
# Start robot
robot.start()
robot.center()
time.sleep(1)
#TODO: change the values in left
robot.left(0.2)
time.sleep(1)#wait a second
#TODO: change the values in right
robot.right(0.2)
time.sleep(1)