def publish_continue(self):
rospy.logdebug('Mock Input Device published continue')
self.instruction_gait_pub.publish(GaitInstruction(std_msgs.msg.Header(stamp=rospy.Time.now()),
GaitInstruction.CONTINUE, ''))
def publish_pause(self):
rospy.logdebug('Mock Input Device published pause')
self.instruction_gait_pub.publish(GaitInstruction(std_msgs.msg.Header(stamp=rospy.Time.now()),
GaitInstruction.PAUSE, ''))
def publish_stop(self):
rospy.logdebug('Mock Input Device published stop')
self.instruction_gait_pub.publish(GaitInstruction(std_msgs.msg.Header(stamp=rospy.Time.now()),
GaitInstruction.STOP, ''))
def publish_gait(self, string):
rospy.logdebug('Mock Input Device published gait: ' + string)
self.instruction_gait_pub.publish(GaitInstruction(std_msgs.msg.Header(stamp=rospy.Time.now()),
GaitInstruction.GAIT, string))
def publish_decrement_step_size(self):
rospy.logdebug('Mock Input Device published step size decrement')
self.instruction_gait_pub.publish(GaitInstruction(std_msgs.msg.Header(stamp=rospy.Time.now()),
GaitInstruction.DECREMENT_STEP_SIZE, ''))
def publish_increment_step_size(self):
rospy.logdebug('Mock Input Device published step size increment')
self._instruction_gait_pub.publish(GaitInstruction(Header(stamp=rospy.Time.now()),
GaitInstruction.INCREMENT_STEP_SIZE, '', self._id))
def publish_sm_to_unknown(self):
rospy.logdebug('Mock Input Device published state machine to unknown')
self._instruction_gait_pub.publish(GaitInstruction(Header(stamp=rospy.Time.now()),
GaitInstruction.UNKNOWN, '', self._id))