def run(self):
try:
#start ROS
rospy.init_node(self.name, anonymous=False)
#what to do if shut down (e.g. ctrl + C or failure)
rospy.on_shutdown(self.shutdown)
# Publisher to manually control the robot (e.g. to stop it)
self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist)
#tell the action client that we want to spin a thread by default
self.move_base = actionlib.SimpleActionClient(
"move_base", MoveBaseAction)
rospy.loginfo("wait for the action server to come up")
#allow up to 5 seconds for the action server to come up
self.move_base.wait_for_server(rospy.Duration(5))
rospy.loginfo("Connected to move base server")
# A variable to hold the initial pose of the robot to be set by
# the user in RViz
initial_pose = PoseWithCovarianceStamped()
# Get the initial pose from the user
rospy.loginfo(
"*** Click the 2D Pose Estimate button in RViz to set the robot's initial pose..."
)
rospy.wait_for_message('initialpose', PoseWithCovarianceStamped)
self.last_location = Pose()
rospy.Subscriber('initialpose', PoseWithCovarianceStamped,
self.update_initial_pose)
# wiat for initial pose
while initial_pose.header.stamp == "":
rospy.sleep(1)
rospy.loginfo("Starting navigation test")
#end ROS
# Create new receiver thread
self.receiver = Receiver(self.name, threadLock)
self.receiver.start()
while not rospy.is_shutdown():
self.checkReceive()
if self.auctionEndTime != 0 and self.auctionEndTime < current_sec_time(
):
self.auctionEndTime = 0
winner = max(self.bidsDic, key=self.bidsDic.get)
if winner == self.name:
self.winTask(self.auctionMsg)
else:
self.winMsg = comm_msg_t()
self.winMsg.receiver = winner
self.sendMsg("winMsg")
print self.bidsDic
except Exception, e:
print(self.name, " node terminated.", e)
def run(self):
try:
# Create new receiver thread
self.receiver = Receiver(self.name, threadLock)
self.receiver.start()
while True:
self.checkReceive()
if self.auctionEndTime != 0 and self.auctionEndTime < current_sec_time():
self.auctionEndTime = 0
winner = max(self.bidsDic, key=self.bidsDic.get);
if winner == self.name:
self.winTask(self.auctionMsg)
else:
self.winMsg = comm_msg_t()
self.winMsg.receiver = winner
self.sendMsg("winMsg")
print self.bidsDic
except Exception, e:
print(self.name, " node terminated.", e)
threadLock = threading.Lock()
# Create new receiver thread
receiver = Receiver("turtlebot1", threadLock)
receiver.start()
counter = 1
while True:
time.sleep(1)
print "main thread still alive"
threadLock.acquire()
if receiver.isReceived:
receiver.isReceived = False
if receiver.msg.receiver == robotName:
print " I am the receiver " + receiver.msg.receiver
threadLock.release()
if counter > 0:
msg = comm_msg_t()
msg.sender = robotName
msg.receiver = "supervisor" #turtlebot1"
msg.position = (1, 2, 3)
Sender(msg)
counter -= 1
# wait for all child threads to die
receiver.join()
except:
print("Receiver node terminated.")