Exemple #1
0
 def __init__(self):
     self.evadeSet = False
     self.controller = XBox360()
     self.bridge = CvBridge()
     self.throttle = 0
     self.grid_img = None
     ##self.throttleLock = Lock()
     print "evasion"
     rospy.Subscriber("/lidargrid", Image, self.gridCB, queue_size=1)
     rospy.Subscriber("/cmd_vel", TwistStamped , self.twistCB , queue_size = 1)
     rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=5)
     self.pub_img = rospy.Publisher("/steering_img", Image, queue_size = 1)
     self.pub_twist = rospy.Publisher("/lidar_twist", TwistStamped, queue_size=1)
     #self.sound = rospy.Publisher("/sound_server/speech_synth", String, queue_size=1)        
     rospy.init_node ('lidar_cmd',anonymous=True)
     rospy.spin()
 def __init__(self):
     print "dataRecorder"
     self.record = False
     self.twist = None
     self.twistLock = Lock()
     self.bridge = CvBridge()
     self.globaltime = None
     self.controller = XBox360()
     ##rospy.Subscriber("/camera/depth/points" , PointCloud2, self.ptcloudCB)
     rospy.Subscriber("/camera/depth/image_rect_raw_drop", Image, self.depthCB)
     rospy.Subscriber("/camera/rgb/image_rect_color_drop", Image, self.streamCB)
     #rospy.Subscriber("/camera/rgb/image_rect_mono_drop", Image, self.streamCB)  ##for black and white images see run.launch and look at the drop fps nodes near the bottom
     rospy.Subscriber("/lidargrid", Image, self.lidargridCB)
     rospy.Subscriber("/cmd_vel", TwistStamped, self.cmd_velCB)
     rospy.Subscriber("/joy", Joy ,self.joyCB)
     self.sound = rospy.Publisher("/sound_server/speech_synth", String, queue_size=1)
     rospy.init_node('dataRecorder',anonymous=True)
     rospy.spin()
Exemple #3
0
 def __init__(self):
     rospy.loginfo("runner.__init__")
     # ----------------------------
     self.sess = tf.InteractiveSession()
     self.model = cnn_cccccfffff()
     saver = tf.train.Saver()
     saver.restore(self.sess,
                   "/home/ubuntu/catkin_ws/src/car/scripts/model.ckpt")
     rospy.loginfo("runner.__init__: model restored")
     # ----------------------------
     self.bridge = CvBridge()
     self.netEnable = False
     self.controller = XBox360()
     rospy.Subscriber("/camera/rgb/image_rect_color", Image, self.runCB)
     rospy.Subscriber("/joy", Joy, self.joyCB)
     self.pub_twist = rospy.Publisher("/neural_twist",
                                      TwistStamped,
                                      queue_size=1)
     #self.sound = rospy.Publisher("/sound_server/speech_synth", String, queue_size=1)
     rospy.init_node('neural_cmd', anonymous=True)
     rospy.spin()
Exemple #4
0
    def __init__(self):
        self.throttleInitialized = False
        self.joy_timeout = 2.0
        self.lid_timeout = 0.30
        self.cnn_timeout = 0.1
        self.joy_time = time.time()
        self.lid_time = time.time()
        self.cnn_time = time.time()
        self.controller = XBox360()
        self.joy_cmd = TwistStamped()
        self.lid_cmd = TwistStamped()
        self.cnn_cmd = TwistStamped()
        self.cruiseControl = False
        self.cruiseThrottle = 0.5
        self.steeringAngle = 0.5
        self.throttle = 0.5
        self.trim = 0.0
        ##self.throttleLock = Lock()
        print "cmd_control"

        rospy.Subscriber("/imu", Imu, self.imuCB, queue_size=5)
        rospy.Subscriber("/lidar_twist",
                         TwistStamped,
                         self.lidarTwistCB,
                         queue_size=5)
        rospy.Subscriber("/neural_twist",
                         TwistStamped,
                         self.neuralTwistCB,
                         queue_size=5)
        rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=5)
        self.vel_pub = rospy.Publisher("/cmd_vel", TwistStamped, queue_size=1)
        #self.state_pub = rospy.Publisher("/joint_states", JointState, queue_size=1)
        self.sound = rospy.Publisher("/sound_server/speech_synth",
                                     String,
                                     queue_size=1)
        rospy.init_node('cmd_control', anonymous=True)
        rate = rospy.Rate(66)
        while not rospy.is_shutdown():
            self.cmdRouter()
            rate.sleep()