class RobotMover(object):
def __init__(self):
# valori di velocità angolare e lineare precedenti , inizializzati a 0 e 0.1
self.previous_angular = 0
self.previous_linear = 0.1
rospy.Subscriber("cmd_vel_topic", Twist, self.cmd_vel_callback)
# creazione di un oggetto della classe MotorDriver
self.motion_driver = MotorDriver()
# callback invocata ogni qual volta venga pubblicato qualcosa sul topic "cmd_vel_topic"
def cmd_vel_callback(self, data):
# velocità lineare e angolare pubblicate sul topic
linear_speed = data.linear.x
angular_speed = data.angular.z
# se sono dei valori di default, si passano a change speed le velocità precedenti, continua a fare quello che faceva
if (linear_speed == -1000) or (angular_speed == -1000) or (
linear_speed == 1000) or (angular_speed == 1000):
self.motion_driver.change_speed(self.previous_linear,
self.previous_angular)
print("{ROBOT_MOVER} Linear: " + str(self.previous_linear) +
", Angular: " + str(self.previous_angular))
else: # se le velocità sono cambiate, aggiorno i valori di quelle precedenti e li passo a change_speed
self.previous_linear = linear_speed
self.previous_angular = angular_speed
self.motion_driver.change_speed(linear_speed, angular_speed)
print("{ROBOT_MOVER} Linear: " + str(linear_speed) +
", Angular: " + str(angular_speed))
class RobotMover(object):
def __init__(self):
rospy.Subscriber("wheel", Twist, self.cmd_vel_callback)
self.motion_driver = MotorDriver()
def cmd_vel_callback(self, data):
linear_speed = data.linear.x
angular_speed = data.angular.z
rospy.loginfo(data.linear)
self.motion_driver.change_speed(linear_speed, angular_speed)
def listener(self):
rospy.spin()
class RobotMover(object):
def __init__(self):
self.previous_angular = 0
self.previous_linear = 0.1
rospy.Subscriber("cmd_vel_topic", Twist, self.cmd_vel_callback2)
self.motion_driver = MotorDriver()
def cmd_vel_callback2(self, data):
linear_speed = data.linear.x
angular_speed = data.angular.z
if (linear_speed == -1000) and (angular_speed == -1000 or angular_speed == 1000):
self.motion_driver.change_speed(self.previous_linear, self.previous_angular)
print("{ROBOT_MOVER} Linear: " + str(self.previous_linear) + ", Angular: " + str(self.previous_angular))
else:
self.previous_linear = linear_speed
self.previous_angular = angular_speed
self.motion_driver.change_speed(linear_speed, angular_speed)
print("{ROBOT_MOVER} Linear: " + str(linear_speed) + ", Angular: " + str(angular_speed))
