def __init__(self,
filename=None,
replay=False,
assertWrite=True,
ipPair=None):
if ipPair is not None:
setIPs(*ipPair)
self.node = NodeROS(subscribe=[
'/imu/data', '/imu/mag', '/imu/rpy', '/imu/temperature',
'/husky/data/encoders', '/husky/data/power_status',
'/husky/data/safety_status', '/joy', '/husky/data/system_status'
],
publish=['/husky/cmd_vel'],
heartbeat='/husky/data/encoders',
filename=filename,
replay=replay,
assertWrite=assertWrite)
self.speed = 0.0
self.angularSpeed = 0.0
self.enc = None # unknown
self.time = None
self.power = None
self.imu = None
self.mag = None
self.azimuth = None
self.emergencyStopPressed = None
self.greenPressed = None
self.redPressed = None
self.joyAxis = (0, 0, 0, 0, 0, 0)
self.update()
def __init__( self, filename=None, replay=False, assertWrite=True, ipPair=None ):
if ipPair is not None:
setIPs( *ipPair )
self.node = NodeROS(
subscribe=['/imu/data', '/imu/mag', '/imu/rpy', '/imu/temperature',
'/husky/data/encoders',
'/husky/data/power_status',
'/husky/data/safety_status',
'/joy',
'/husky/data/system_status'],
publish=['/husky/cmd_vel'],
heartbeat='/husky/data/encoders',
filename=filename, replay=replay, assertWrite=assertWrite )
self.speed = 0.0
self.angularSpeed = 0.0
self.enc = None # unknown
self.time = None
self.power = None
self.imu = None
self.mag = None
self.azimuth = None
self.emergencyStopPressed = None
self.greenPressed = None
self.redPressed = None
self.joyAxis = (0,0, 0,0, 0,0)
self.update()
robot.turnToAzimuth(math.radians(180.0))
robot.goStraight(1.0)
def test6(robot):
for azi, dist in [(-1.13311392218, 11.091), (0.175614628559, 3.584),
(1.62315635666, 11.842), (-2.77704236902, 4.407),
(-1.14243399246, 1.0)]: # unknown
robot.turnToAzimuth(azi)
robot.goStraight(dist, maxSpeed=0.3)
if __name__ == "__main__":
if len(sys.argv) < 2 or (len(sys.argv) == 2 and "meta" not in sys.argv[1]):
print __doc__
sys.exit(1)
filename = None
assertWrite = True
if "meta" in sys.argv[1]:
filename = sys.argv[1]
if len(sys.argv) > 2 and sys.argv[2] == 'F':
assertWrite = False
else:
setIPs(sys.argv[1], 'http://' + sys.argv[2] + ':11311')
robot = HuskyROS(filename=filename, assertWrite=assertWrite)
test6(robot)
#-------------------------------------------------------------------
# vim: expandtab sw=4 ts=4
def test6( robot ):
for azi,dist in [ (-1.13311392218, 11.091),
(0.175614628559, 3.584),
(1.62315635666, 11.842),
(-2.77704236902, 4.407),
(-1.14243399246, 1.0)]: # unknown
robot.turnToAzimuth( azi )
robot.goStraight( dist, maxSpeed=0.3 )
if __name__ == "__main__":
if len(sys.argv) < 2 or (len(sys.argv)==2 and "meta" not in sys.argv[1]):
print __doc__
sys.exit(1)
filename = None
assertWrite = True
if "meta" in sys.argv[1]:
filename = sys.argv[1]
if len(sys.argv) > 2 and sys.argv[2] == 'F':
assertWrite = False
else:
setIPs( sys.argv[1], 'http://'+sys.argv[2]+':11311' )
robot = HuskyROS( filename=filename, assertWrite=assertWrite )
test6( robot )
#-------------------------------------------------------------------
# vim: expandtab sw=4 ts=4