continue if styleData.s == "stop": ser(0, 0, 0) elif styleData.s == "go": ser(300, 0, 0) elif styleData.s == "goRight": ser(200, 0, 0 - 150) elif styleData.s == "goLeft": ser(200, 0, 150) elif styleData.s == "right": ser(0, 0, 0 - 200) elif styleData.s == "left": ser(0, 0, 200) elif styleData.s == "back": ser(-200, 0, 0) rospy.sleep(0.5) if __name__ == "__main__": rospy.init_node("kinect_move") ser = rospy.ServiceProxy("/hc_motor_cmd/vector_speed", VectorSpeed) scanData = list() styleData = Follow() scan_pub = rospy.Subscriber("/scan", LaserScan, run1) point_pub = rospy.Subscriber("/Kinect/Follow_point", Follow, run2) follow_pub() rospy.spin()
from bitathome_remote_control.msg import Follow import socket import traceback import math port = 23333 # server port links = 1 # max link if __name__ == '__main__': follow_pub = rospy.Publisher('Kinect/Follow_point', Follow, queue_size=10) rospy.init_node('netPublisher', anonymous=True) rate = rospy.Rate(30) rospy.loginfo("Initializing socket...") sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.bind(('', port)) rospy.loginfo("Ready!") while not rospy.is_shutdown(): try: buf,(r_ip, r_port) = sock.recvfrom(1024) print(buf, r_ip, r_port) buf = buf.split(" ") ret = Follow() ret.s = buf[0] follow_pub.publish(ret) except Exception,ex: rospy.logerr("Exception!") print(ex) traceback.print_exc()
from bitathome_remote_control.msg import Follow port = 23333 # server port links = 1 # max link if __name__ == '__main__': speak_pub = rospy.Publisher('/speak', Follow, queue_size=10) rospy.init_node('netPublisher', anonymous=True) rate = rospy.Rate(30) rospy.loginfo("Initializing socket...") sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.bind(('', port)) rospy.loginfo("Ready!") while not rospy.is_shutdown(): try: buf,(r_ip, r_port) = sock.recvfrom(1024) print(buf, r_ip, r_port) buf = buf.split(" ") ret = Follow() ret.s = "" for i in buf: ret.s += i + ", " print ret.s speak_pub.publish(ret) except Exception,ex: rospy.logerr("Exception!") print(ex) traceback.print_exc()
while not rospy.is_shutdown(): try: buf, (r_ip, r_port) = sock.recvfrom(1024) print(buf, r_ip, r_port) buf = buf.split(" ") if buf[0] == "object": things[count] = buf[1] say_ser(buf[1] + " ,right?") elif buf[0] == "get": if things[0] == buf[1]: rem = 0 else: rem = 1 say_ser("Do you need " + buf[1] + "?") elif buf[0] == "stop1": ret = Follow() ret.s = "stop" shopping_pub.publish(ret) say_ser("Why stop me?") key = False elif buf[0] == "yes1" or buf[0] == "yes2": ret = Follow() ret.s = "save" shopping_pub.publish(ret) say_ser("OK, I remember.") rospy.sleep(3) key = True count += 1 elif buf[0] == "no": say_ser("Could you tell me again?") elif key:
elif buf[0] == "pos": ret = Point() ret.x = float(buf[1]) ret.y = float(buf[2]) ret.z = 0.0 wiw_pub.publish(ret) elif buf[0] == "name": say_ser("Are you " + buf[1] + "?") # say Is your name ... elif buf[0] == "object": say_ser("Do you need " + buf[1] + "?") elif buf[0] == "yes1": say_ser("I remember you.") # say i remember you say_ser("What do you need?") elif buf[0] == "yes2": say_ser("I remember it.") ret = Follow() ret.s = "yes" follow_pub.publish(ret) rospy.sleep(3) elif buf[0] == "no": say_ser("Could you please tell me again?" ) # say can you speak your name again elif buf[0] == "go": ret = Follow() ret.s = "go" follow_pub.publish(ret) except Exception, ex: rospy.logerr("Exception!") print(ex) traceback.print_exc()
while not rospy.is_shutdown(): try: buf,(r_ip, r_port) = sock.recvfrom(1024) print(buf, r_ip, r_port) buf = buf.split(" ") if buf[0] == "object": things[count] = buf[1] say_ser(buf[1] + " ,right?") elif buf[0] == "get": if things[0] == buf[1]: rem = 0 else: rem = 1 say_ser("Do you need " + buf[1] + "?") elif buf[0] == "stop1": ret = Follow() ret.s = "stop" shopping_pub.publish(ret) say_ser("Why stop me?") key = False elif buf[0] == "yes1" or buf[0] == "yes2": ret = Follow() ret.s = "save" shopping_pub.publish(ret) say_ser("OK, I remember.") rospy.sleep(3) key = True count += 1 elif buf[0] == "no": say_ser("Could you tell me again?") elif key:
import traceback from bitathome_remote_control.msg import Follow port = 23333 # server port links = 1 # max link if __name__ == '__main__': speak_pub = rospy.Publisher('/speak', Follow, queue_size=10) rospy.init_node('netPublisher', anonymous=True) rate = rospy.Rate(30) rospy.loginfo("Initializing socket...") sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.bind(('', port)) rospy.loginfo("Ready!") while not rospy.is_shutdown(): try: buf, (r_ip, r_port) = sock.recvfrom(1024) print(buf, r_ip, r_port) buf = buf.split(" ") ret = Follow() ret.s = "" for i in buf: ret.s += i + ", " print ret.s speak_pub.publish(ret) except Exception, ex: rospy.logerr("Exception!") print(ex) traceback.print_exc()