def setXYValues(self,newX,newY):
vel = CMDVel()
myW=-newX*(self.sensors.motors.getMaxW())*2
myV=-newY*(self.sensors.motors.getMaxV())
vel.vx = myV
vel.az = myW
self.sensors.motors.sendVelocities(vel)
def setXYValues(self,newX,newY):
vel = CMDVel()
myW=-newX*(self.motors.getMaxW())*2
myV=-newY*(self.motors.getMaxV())
vel.vx = myV
vel.az = myW
self.motors.sendVelocities(vel)
def setXYValues(self, newX, newY):
self.XValue.setText(str(newX))
self.YValue.setText(str(newY))
if (self.motors):
vel = CMDVel()
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
vel.vx = myV
vel.az = myW
self.motors.sendVelocities(vel)
def setXYValues(self, newX, newY):
self.XValue.setText(str(newX))
self.YValue.setText(str(newY))
if (self.motors):
vel = CMDVel()
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
vel.vx = myV
vel.az = myW
self.motors.sendVelocities(vel)
def __init__(self, topic, jdrc):
'''
PublisherCMDVel Constructor.
@param topic: ROS topic to publish
@param jdrc: jderobot Communicator
@type topic: String
@type jdrc: jderobot Communicator
'''
rospy.init_node("ss")
self.topic = topic
self.jdrc = jdrc
self.vel = CMDVel()
self.pub = self.pub = rospy.Publisher(topic,
TwistStamped,
queue_size=1)
self.lock = threading.Lock()
self.kill_event = threading.Event()
self.thread = ThreadPublisher(self, self.kill_event)
self.thread.daemon = True
self.start()
def __init__(self, jdrc):
"""
Init method.
@param jdrc:
"""
# variables
self.__vel = CMDVel()
# get clients
self.__motors_client = jdrc.getMotorsClient("robot.Motors")
self.__laser_client = jdrc.getLaserClient("robot.Laser")
def __init__(self, ic, node):
"""
Init method.
@param ic:
@param node:
"""
# variables
self.__vel = CMDVel()
# get clients
self.__motors_client = comm.getMotorsClient(ic, "robot.Motors", node)
self.__laser_client = comm.getLaserClient(ic, "robot.Laser", node)
def __init__(self, cfg):
"""
Init method.
@param cfg:
"""
jdrc = comm.init(cfg, 'robot')
# variables
self.__vel = CMDVel()
# get clients
self.__pose3d_client = jdrc.getPose3dClient("robot.Pose3D")
self.__motors_client = jdrc.getMotorsClient("robot.Motors")
self.__laser_client = jdrc.getLaserClient("robot.Laser")
def __init__(self, cfg):
"""
Init method.
@param cfg:
"""
# ymlNode = cfg.getProperty("robot") # return dict with properties from yml
# get node
self.__node = rospy.init_node("robot", anonymous=True)
# get clients
prefix = "robot.Pose3D"
print("Receiving " + prefix + " from ROS messages")
topic = cfg.getProperty(prefix + ".Topic")
self.__pose3d_client = ListenerPose3d(topic)
prefix = "robot.Motors"
print("Publishing " + prefix + " with ROS messages")
topic = cfg.getProperty(prefix + ".Topic")
maxW = cfg.getPropertyWithDefault(prefix + ".maxW", 0.5)
if not maxW:
maxW = 0.5
print(prefix + ".maxW not provided, the default value is used: " +
repr(maxW))
maxV = cfg.getPropertyWithDefault(prefix + ".maxV", 5)
if not maxV:
maxV = 5
print(prefix + ".maxV not provided, the default value is used: " +
repr(maxV))
self.__motors_client = PublisherMotors(topic, maxV, maxW)
prefix = "robot.Laser"
print("Receiving " + prefix + " from ROS messages")
topic = cfg.getProperty(prefix + ".Topic")
self.__laser_client = ListenerLaser(topic)
# variables
self.__vel = CMDVel()
def __init__(self, jdrc, prefix):
self.lock = threading.Lock()
ic = jdrc.getIc()
self.vel = CMDVel()
try:
proxyStr = jdrc.getConfig().getProperty(prefix + ".Proxy")
base = ic.stringToProxy(proxyStr)
self.proxy = jderobot.CMDVelPrx.checkedCast(base)
if not self.proxy:
print('Interface ' + prefix + ' not configured')
except Ice.ConnectionRefusedException:
print(prefix + ': connection refused')
except:
traceback.print_exc()
exit(-1)
def __init__(self, topic, maxV, maxW):
'''
ListenerMotors Constructor.
@param topic: ROS topic to publish
@type topic: String
'''
self.maxW = maxW
self.maxV = maxV
self.topic = topic
self.data = CMDVel()
self.pub = self.pub = rospy.Publisher(self.topic, Twist, queue_size=1)
self.lock = threading.Lock()
self.kill_event = threading.Event()
self.thread = ThreadPublisher(self, self.kill_event)
self.thread.daemon = True
self.start()
def __init__(self, topic, jdrc):
'''
PublisherCMDVel Constructor.
@param topic: ROS topic to publish
@param jdrc: jderobot Communicator
@type topic: String
@type jdrc: jderobot Communicator
'''
self.node = rclpy.create_node("CmdVel_pub")
self.topic = topic
self.jdrc = jdrc
self.vel = CMDVel()
self.pub = self.pub = self.node.create_publisher(
TwistStamped, topic, 1)
self.lock = threading.Lock()
self.kill_event = threading.Event()
self.thread = ThreadPublisher(self, self.kill_event)
self.thread.daemon = True
self.start()
#!/usr/bin/env python3
import config
import comm
import sys
import time
import signal
from jderobotTypes import CMDVel
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
jdrc= comm.init(cfg, "Test")
vel = CMDVel()
vel.vx = 1
vel.az = 0.1
client = jdrc.getMotorsClient("Test.Motors")
for i in range (10):
client.sendVelocities(vel)
time.sleep(1)
jdrc.destroy()
#!/usr/bin/env python3
import easyiceconfig as EasyIce
import jderobotComm as comm
import sys
import time
import signal
from jderobotTypes import CMDVel
if __name__ == '__main__':
ic = EasyIce.initialize(sys.argv)
ic, node = comm.init(ic)
vel = CMDVel()
vel.vx = 1
vel.az = 0.1
client = comm.getMotorsClient(ic, "kobukiViewer.Motors")
#client2 = comm.getLaserClient(ic, "kobukiViewer.Laser")
for i in range (10):
client.sendVelocities(vel)
time.sleep(1)
comm.destroy(ic, node)
