Python MotorDriver.set_cmd_vel Examples

Example #1

class RobotMover(object):
    def __init__(self):
        rospy.Subscriber("/morpheus_bot/cmd_vel", Twist, self.cmd_vel_callback)
        self.motor_driver = MotorDriver()
        rospy.wait_for_service('/raspicam_node/start_capture')

        start_cam = rospy.ServiceProxy('/raspicam_node/start_capture', Empty)
        request_e = EmptyRequest()
        start_cam(request_e)
        rospy.loginfo("Started Camera")

    def cmd_vel_callback(self, msg):
        linear_speed = msg.linear.x
        angular_speed = msg.angular.z

        # Decide Speed
        self.motor_driver.set_cmd_vel(linear_speed, angular_speed)

    def listener(self):
        rospy.spin()

Example #2

File: move_with_cmd_vel.py Project: debanik123/CORONA_VISION

class RobotMover(object):
    def __init__(self, value_BASE_PWM, value_MULTIPLIER_STANDARD,
                 value_MULTIPLIER_PIVOT, value_simple_mode):
        rospy.Subscriber("/mowgli/cmd_vel", Twist, self.cmd_vel_callback)
        self.motor_driver = MotorDriver(
            i_BASE_PWM=value_BASE_PWM,
            i_MULTIPLIER_STANDARD=value_MULTIPLIER_STANDARD,
            i_MULTIPLIER_PIVOT=value_MULTIPLIER_PIVOT,
            simple_mode=value_simple_mode)

        rospy.loginfo("RobotMover Started...")

    def cmd_vel_callback(self, msg):
        linear_speed = msg.linear.x
        angular_speed = msg.angular.z

        # Decide Speed
        self.motor_driver.set_cmd_vel(linear_speed, angular_speed)

    def listener(self):
        rospy.spin()