def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " % (self.node_name))
self.estop = False
# Parameters for maximal turning radius
self.use_rad_lim = self.setupParam("~use_rad_lim", False)
self.min_rad = self.setupParam("~min_rad", 0.08)
self.wheel_distance = self.setupParam("~wheel_distance", 0.103)
# Setup publishers
self.driver = DaguWheelsDriver()
#add publisher for wheels command wih execution time
self.msg_wheels_cmd = WheelsCmdStamped()
self.pub_wheels_cmd = rospy.Publisher("~wheels_cmd_executed",
WheelsCmdStamped,
queue_size=1)
# Setup subscribers
self.control_constant = 1.0
self.sub_topic = rospy.Subscriber("~wheels_cmd",
WheelsCmdStamped,
self.cbWheelsCmd,
queue_size=1)
self.sub_e_stop = rospy.Subscriber("~emergency_stop",
BoolStamped,
self.cbEStop,
queue_size=1)
self.sub_rad_lim = rospy.Subscriber("~radius_limit",
BoolStamped,
self.cbRadLimit,
queue_size=1)
self.params_update = rospy.Timer(rospy.Duration.from_sec(1.0),
self.updateParams)
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " %(self.node_name))
# Setup publishers
self.driver = DaguWheelsDriver()
# Setup subscribers
self.sub_topic = rospy.Subscriber("~wheels_cmd", WheelsCmd, self.cbWheelsCmd, queue_size=1)
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " % (self.node_name))
self.estop = False
# Setup publishers
self.driver = DaguWheelsDriver()
#add publisher for wheels command wih execution time
# Setup subscribers
self.sub_topic = rospy.Subscriber("/wheels_cmd",
WheelsCmdStamped,
self.cbWheelsCmd,
queue_size=1)
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " %(self.node_name))
self.estop=False
# Setup publishers
self.driver = DaguWheelsDriver()
#add publisher for wheels command wih execution time
self.msg_wheels_cmd = WheelsCmdStamped()
self.pub_wheels_cmd = rospy.Publisher("~wheels_cmd_executed",WheelsCmdStamped, queue_size=1)
# Setup subscribers
self.control_constant = 1.0
self.sub_topic = rospy.Subscriber("~wheels_cmd", WheelsCmdStamped, self.cbWheelsCmd, queue_size=1)
self.sub_e_stop = rospy.Subscriber("~emergency_stop", BoolStamped, self.cbEStop, queue_size=1)
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " % self.node_name)
self.estop = False
self.estop_stamp = rospy.get_rostime()
# Setup publishers
self.driver = DaguWheelsDriver()
# add publisher for wheels command wih execution time
self.msg_wheels_cmd = WheelsCmdStamped()
self.pub_wheels_cmd = rospy.Publisher("~wheels_cmd_executed", WheelsCmdStamped, queue_size=1)
# Setup subscribers
self.sub_topic = rospy.Subscriber("~wheels_cmd", WheelsCmdStamped, self.cbWheelsCmd, queue_size=1)
self.sub_e_stop = rospy.Subscriber("~emergency_stop", BoolStamped, self.cbEStop, queue_size=1)
self.sub_motor_rpm = rospy.Subscriber("~motor_rpm", Int16MultiArray, self.cbEncoderRPM, queue_size=1)
