def myupdate(me, world_name, sim_time, real_time):
swarm.gzmsg('[%s] update()' % (me))
for n in swarm.neighbors(me):
swarm.send_to(me, "unicast to %s" % (n), n, 1234)
swarm.send_to(me, "broadcast to everyone", "broadcast", 1234)
swarm.send_to(me, "multicast to some", "multicast", 1234)
swarm.set_linear_velocity(me, 0.5, 0, 0)
swarm.set_angular_velocity(me, 0, 0, 0.25)
pose = swarm.pose(me)
swarm.gzmsg('[%s] pose: [%f, %f, %f]' % (me, pose[0], pose[1], pose[2]))
imu = swarm.imu(me)
swarm.gzmsg('[%s] imu: [%f, %f, %f, %f, %f, %f, %f, %f, %f]' %
(me, imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], imu[6],
imu[7], imu[8]))
bearing = swarm.bearing(me)
swarm.gzmsg('[%s] bearing: %f' % (me, bearing))
image = swarm.image(me)
swarm.gzmsg('[%s] image: %s' % (me, image))
swarm.gzmsg('[%s] terrain type: %s' % (me, swarm.terrain_type(me)))
swarm.gzmsg('[%s] docked?: %d' % (me, swarm.is_docked(me)))
swarm.launch(me)
swarm.dock(me, me)
def connect(options):
swarm.launch("swarm", options)
return True
def start(options):
swarm.launch("swarm", options)
swarm.launch("proxy", options)
return True
