Example #1
0
 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()
Example #2
0
 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()
Example #3
0
        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
Example #4
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