def __init__(self):
self.kin = hkin()
self.delta_x = [0, 0, 0, 0, 0, 0]
#Subscriber for joystick commands
rospy.Subscriber("/joy",
joystick_msg,
self.joystick_callback,
tcp_nodelay=True)
def __init__(self):
# Variables
self.q_fb = Pololu()
self.q_cmd = Pololu()
self.kin = hkin()
# Publishers and Subscribers
self.sub1 = rospy.Subscriber('pololu_feedback', Pololu, self.polCallback)
self.pub1 = rospy.Publisher('/pololu_command', Pololu, queue_size = 10)
self.pub2 = rospy.Publisher('/drive_command', Drive, queue_size = 10)
self.pub3 = rospy.Publisher('/mode', String, queue_size = 10)
def __init__(self):
self.kin = hkin()
self.delta_x = [0,0,0,0,0,0]
#Subscriber for joystick commands
rospy.Subscriber("/joy",joystick_msg, self.joystick_callback, tcp_nodelay=True)