def callback(self, cmd_msg):
pos = cmd_msg.data
if (pos > 100):
pos = 100
elif (pos < 0):
pos = 0
Setter.callback(self, pos)
def run(self, rospy, hostname):
# initialize the connection and create subscribers
Setter.init(self,(1206,1207))
rospy.Subscriber('/'+hostname+'/cmd_vel', Twist, self.callback)
rospy.Subscriber('/'+hostname+'/cmd_vel_left', Float64, self.set_left)
rospy.Subscriber('/'+hostname+'/cmd_vel_right', Float64, self.set_right)
def callback(self, cmd_msg):
# callback function - extends the setter.callback functionality
# formats data to be passed to mindprobe
pos = cmd_msg.data
if (pos > 100):
pos = 100
elif (pos < 0):
pos = 0
Setter.callback(self, pos)
def handleData(self, data: bytearray):
text = data[1:len(data) - 5].decode(encoding="utf-8", errors='ignore')
splitted = text.split("|", )
name = True
currName = ""
for i in reversed(range(self.settingsContentWidget.layout().count())
): #clear layout from previous settings
self.settingsContentWidget.layout().itemAt(i).widget().setParent(
None)
for item in splitted:
if (len(item) > 0):
if (name):
name = False
currName = item
else:
name = True
setter = Setter(currName, item, None)
self.settingsContentWidget.layout().addWidget(setter)
setter.changeAvailable.connect(self.requestChange)
'''if(len(data)<6): return
# This is the code that visits the warehouse.
import sys
import Pyro4
import Pyro4.util
from setter import Setter
sys.excepthook = Pyro4.util.excepthook
times = Pyro4.Proxy("PYRONAME:example.times")
setter = Setter("myset")
setter.set(times)
def set_right(self,cmd_msg):
# callback to set the right wheel
vel = cmd_msg.data
Setter.callback(self,[0,vel])
def set_left(self,cmd_msg):
# callback to set the left wheel
vel = cmd_msg.data
Setter.callback(self,[vel,0])
def callback(self, cmd_msg):
# differential drive callback.
vel = twist_to_vel(cmd_msg)
Setter.callback(self,vel)
def set_right(self, cmd_msg):
vel = cmd_msg.data
Setter.callback(self, [0, vel])
def set_left(self, cmd_msg):
vel = cmd_msg.data
Setter.callback(self, [vel, 0])
def callback(self, cmd_msg):
vel = twist_to_vel(cmd_msg)
Setter.callback(self, vel)
def init(self):
Setter.init(self, (1206, 1207))
def run(self, rospy, hostname):
# intializes the mp connection and runs a subscriber for setting the arm position.
Setter.init(self, 1077)
rospy.Subscriber('/' + hostname + '/set_arm_pos', Float32,
self.callback)
def init(self):
Setter.init(self, 1080)
# This is the code that visits the warehouse.
import sys
import Pyro4
import Pyro4.util
from setter import Setter
sys.excepthook = Pyro4.util.excepthook
times = Pyro4.Proxy("PYRONAME:example.times")
setter = Setter("myset")
setter.set(times)
