def main(stdscr): args = rospy.myargv()[1:] cfgfile = find_config_file(args) if not cfgfile: rospy.logfatal("Could not locate config file.") exit(1) cfg = RawConfigParser() cfg.read(cfgfile) bm = BatteryMonitor(stdscr, cfg) rospy.init_node(NODE_NAME) rospy.Subscriber(SUBSCRIBE_TOPIC, RobotState, bm.on_update) rate = rospy.Rate(LOOP_FREQ) while not rospy.is_shutdown(): bm.step() rate.sleep()
def main(): app = QtGui.QApplication(rospy.myargv()) parser = OptionParser() parser.add_option("--config-file", "-c") options, args = parser.parse_args(rospy.myargv()) cfgfile = find_config_file(options.config_file) if not cfgfile: rospy.logfatal("Unable to find config file") exit(1) rospy.loginfo("Calibrating file %s", cfgfile) screen = CalibrationScreen(cfgfile) screen.show() retval = app.exec_() return retval
def main(): def vision_callback(msg): commander.vision.on_update(msg, get_time()) def stopsign_callback(msg): commander.stopsign.on_update(msg, get_time()) def ranger_callback(msg): commander.ranger.on_update(msg, get_time()) def estop_callback(msg): commander.estop.on_update(msg, get_time()) rospy.loginfo("Starting %s", NODE_NAME) car_pub = rospy.Publisher(CAR_TOPIC, CarCommand) vel_pub = rospy.Publisher(VELOCITY_TOPIC, Twist) rospy.init_node(NODE_NAME) commander = OscarCommander(get_time()) commander.debugger = rospy.loginfo cfgfile = find_config_file(rospy.myargv()[1:]) if cfgfile: rospy.loginfo("Loading config file %s", cfgfile) commander.load_config(cfgfile) else: rospy.logfatal("No config file found") exit(1) rospy.Subscriber(VISION_TOPIC, Vector3, vision_callback) rospy.Subscriber(STOPSIGN_TOPIC, Float64, stopsign_callback) rospy.Subscriber(RANGER_TOPIC, Vector3, ranger_callback) rospy.Subscriber(ESTOP_TOPIC, Joy, estop_callback) rate = rospy.Rate(LOOP_FREQ) while not rospy.is_shutdown(): rec = commander.get_command(get_time()) car_pub.publish(throttle = rec.throt, steering = rec.steer) #vel_msg = Twist() #vel_msg.linear.x = rec.throt #vel_msg.angular.z = rec.steer #vel_pub.publish(vel_msg) rate.sleep() rospy.loginfo("Stopping %s", NODE_NAME)
def load_config(self, cmd_line_arg): cfg = find_config_file(cmd_line_arg) self.throttle.load_config(cfg) self.steering.load_config(cfg) self.pan.load_config(cfg) self.tilt.load_config(cfg)