def setElevatorCb(self, goal):
digital_output = DigitalOutput()
digital_output.mask[0] = True
digital_output.mask[1] = True
if (goal.pos.value == SetPosition.RAISE):
self.feedback.value = "RAISING"
digital_output.values[0] = False
digital_output.values[1] = True
elif (goal.pos.value == SetPosition.LOWER):
self.feedback.value = "LOWERING"
digital_output.values[1] = False
digital_output.values[0] = True
else:
self.feedback.value = "STOPPED"
self.result.value = False
self.server.set_aborted(self.result)
self.pub.publish(digital_output)
self.server.publish_feedback(self.feedback)
d = rospy.Duration(4, 0)
rospy.sleep(d)
self.result.value = True
self.server.set_succeeded(self.result)
return True
def main():
global bumper
print("Lancement test servo")
rospy.init_node('test_servo')
rospy.sleep(0.5)
pub = rospy.Publisher("/mobile_base/commands/digital_output", DigitalOutput)
cmd=DigitalOutput()
cmd.values= [True, True, True, True]
cmd.mask=[True, False, False, False]
while not rospy.is_shutdown():
print(cmd)
pub.publish(cmd)
cmd.values=[False, False, False, False]
rospy.sleep(5)
print(cmd)
pub.publish(cmd)
rospy.sleep(5)
cmd.values= [True, True, True, True]
print("je suis desole, je n'ai pas de servo")
rospy.spin() #boucle infinie tant qu'on quitte pas proprement
def callback(data):
# topic
pub = rospy.Publisher('camera/orientation/value', Orientation, queue_size = 1, latch=True)
command = rospy.Publisher('mobile_base/commands/digital_output', DigitalOutput, queue_size = 1, latch=True)
# variable to publish
digout = DigitalOutput()
digout.mask = [True, False, False, False]
angle = Orientation()
if data.value == False:
digout.values[0]=False
angle.value = angle.low
else:
digout.values[0]=True
angle.value = angle.up
pub.publish(angle)
command.publish(digout)
def main():
global bumper
print("Lancement test servo")
rospy.init_node('test_servo')
rospy.sleep(0.5)
pub = rospy.Publisher("/mobile_base/commands/digital_output",
DigitalOutput)
cmd = DigitalOutput()
cmd.values = [True, True, True, True]
cmd.mask = [True, False, False, False]
while not rospy.is_shutdown():
print(cmd)
pub.publish(cmd)
cmd.values = [False, False, False, False]
rospy.sleep(5)
print(cmd)
pub.publish(cmd)
rospy.sleep(5)
cmd.values = [True, True, True, True]
print("je suis desole, je n'ai pas de servo")
rospy.spin() #boucle infinie tant qu'on quitte pas proprement
def __init__(self):
rospy.on_shutdown(self.cleanup)
self.voice = rospy.get_param("~voice", "voice_don_diphone")
self.wavepath = rospy.get_param("~wavepath", "")
# Create the sound client object
self.soundhandle = SoundClient()
rospy.sleep(1)
self.soundhandle.stopAll()
# Subscribe to the /mobile_base/events/digital_input topic to receive digital input
rospy.Subscriber('/mobile_base/events/digital_input', DigitalInputEvent, self.DigitalInputEventCallback)
# Subscribe to the /mobile_base/events/button topic to receive built-in button input
rospy.Subscriber('/mobile_base/events/button', ButtonEvent, self.ButtonEventCallback)
# Subscribe to the /mobile_base/events/bumper topic to receive bumper input
rospy.Subscriber('/mobile_base/events/bumper', BumperEvent, self.BumperEventCallback)
# publish Led messages to /mobile_base/commands/led1 & /mobile_base/commands/led2 topics to give Led signal
self.pub1 = rospy.Publisher('/mobile_base/commands/led1', Led)
self.pub2 = rospy.Publisher('/mobile_base/commands/led2', Led)
self.led1 = Led()
self.led2 = Led()
# publish Led messages to /mobile_base/commands/digital_output to give digital signal
self.pub3 = rospy.Publisher('/mobile_base/commands/digital_output', DigitalOutput)
self.digital_out = DigitalOutput()
rospy.sleep(1)
# Announce user that the robot is ready
self.soundhandle.say("Ready", self.voice)
# while loop
while not rospy.is_shutdown():
if digital_in[1]==True:
rospy.loginfo("button 1 pressed !!!")
elif digital_in[2]==True:
rospy.loginfo("button 2 pressed !!!")
elif digital_in[3]==True:
rospy.loginfo("button 3 pressed !!!")
if bumper == 0:
if bumper_state == 1:
self.led1.value = 1
elif bumper == 1:
if bumper_state == 1:
self.led1.value = 2
elif bumper == 2:
if bumper_state == 1:
self.led1.value = 3
if button == 0:
if button_state == 1:
self.led1.value = 1
self.digital_out.values = [False, False, False, False]
self.digital_out.mask = [True, True, True, True]
self.soundhandle.say("button 1 is pressed", self.voice)
rospy.sleep(1)
elif button == 1:
if button_state == 1:
self.led1.value = 2
self.digital_out.values = [True, True, True, True]
self.digital_out.mask = [True, True, True, True]
self.soundhandle.say("button 2 is pressed", self.voice)
rospy.sleep(1)
elif button == 2:
if button_state == 1:
self.led1.value = 3
self.soundhandle.say("button 3 is pressed", self.voice)
rospy.sleep(1)
self.pub1.publish(self.led1)
self.pub2.publish(self.led2)
self.pub3.publish(self.digital_out)
rospy.Rate(4).sleep()
def main():
global bumper
print("Lancement navigation aleatoire")
rospy.init_node('navigation_aleatoire')
rospy.sleep(0.5)
rospy.Subscriber("/mobile_base/events/bumper", BumperEvent, bumper)
rospy.Subscriber("/facedetector/faces", Detection, image)
pub = rospy.Publisher("/mobile_base/commands/velocity", Twist)
# pub2 = rospy.Publisher("/robotsound", SoundRequest)
pub3 = rospy.Publisher("/mobile_base/commands/sound", Sound)
pub4 = rospy.Publisher("/mobile_base/commands/digital_output",
DigitalOutput)
cmd = Twist()
# sound = SoundRequest()
sonnerie = Sound()
# sound.arg = "/opt/ros/indigo/share/sound_play/sounds/R2D2a.wav"
# sound.sound = -2
# sound.command = 1
sonnerie.value = 6
digOut = DigitalOutput()
digOut.values = [False, False, False, False]
digOut.mask = [True, False, False, False]
flag = 0
rospy.sleep(1)
indiana_jones.main()
while not rospy.is_shutdown():
duree = 1 + random.random() * 5
tempsActuel = rospy.get_time()
stop = rospy.get_time() + duree
while (rospy.get_time() < stop):
if bumper == 0:
cmd.linear.x = 0
cmd.angular.z = -2
pub.publish(cmd)
rospy.sleep(0.5)
bumper = 3
elif bumper == 1:
cmd.linear.x = -0.2
cmd.angular.z = 0
digOut.values[0] = True
pub.publish(cmd)
vador2.main()
# pub2.publish(sound)
pub4.publish(digOut)
rospy.sleep(5)
while (NbGens > 0):
rospy.sleep(2.5)
flag = 1
digOut.values[0] = False
if flag == 1:
pub3.publish(sonnerie)
rospy.sleep(0.5)
flag = 0
pub4.publish(digOut)
rospy.sleep(0.5)
cmd.linear.x = -0.2
cmd.angular.z = 2
pub.publish(cmd)
rospy.sleep(0.5)
bumper = 3
elif bumper == 2:
cmd.linear.x = 0
cmd.angular.z = 2
pub.publish(cmd)
rospy.sleep(0.5)
bumper = 3
else:
cmd.linear.x = 0.2
cmd.angular.z = 0
pub.publish(cmd)
if bumper > 2:
bumper = math.floor(random.random() * 10)
if bumper == 1:
bumper = 3
print("fin navigation autonome")
rospy.spin() #boucle infinie tant qu'on quitte pas proprement
# rospy initial setup
rospy.init_node("test_output")
rospy.on_shutdown(clearing)
rate = rospy.Rate(10)
pub_ext_pwr = rospy.Publisher("/mobile_base/commands/external_power", DigitalOutput)
pub_dgt_out = rospy.Publisher("/mobile_base/commands/digital_output", DigitalOutput)
pub = []
pub.append(rospy.Publisher("/mobile_base/commands/led1", Led))
pub.append(rospy.Publisher("/mobile_base/commands/led2", Led))
pub_sounds = rospy.Publisher("/mobile_base/commands/sound", Sound)
# initial values
external_power = DigitalOutput()
external_power.values = [True, True, True, True]
external_power.mask = [True, True, True, True]
digital_output = DigitalOutput()
digital_output.values = [True, True, True, True]
digital_output.mask = [True, True, True, True]
leds = []
leds.append(Led())
leds.append(Led())
leds[0].value = Led.GREEN
leds[1].value = Led.GREEN
# initialize outputs
while not pub_ext_pwr.get_num_connections():
}
settings = termios.tcgetattr(sys.stdin)
def clearing():
sys.stdout.write('\r\n')
sys.stdout.flush()
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
rospy.init_node("test_external_power")
rospy.on_shutdown(clearing)
pub = rospy.Publisher('/mobile_base/commands/external_power', DigitalOutput)
rate = rospy.Rate(10)
digital_output = DigitalOutput()
digital_output.values = [True, True, True, True]
digital_output.mask = [True, True, True, True]
print ""
#print "If you want to control the timing of publish, uses -p option."
#print ""
print "Control External Power"
print "----------------------"
print "1: Toggle the state of 3.3V"
print "2: Toggle the state of 5V"
print "3: Toggle the state of 12V5A(arm)"
print "4: Toggle the state of 12V1A(kinect)"
print ""
#print "p: publish power on/off status"
print "q: quit"
print ""
'3':2,
'4':3,
}
settings = termios.tcgetattr(sys.stdin)
def clearing():
sys.stdout.write('\r\n')
sys.stdout.flush()
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
rospy.init_node("test_external_power")
rospy.on_shutdown(clearing)
pub = rospy.Publisher('/mobile_base/commands/external_power',DigitalOutput)
rate = rospy.Rate(10)
digital_output = DigitalOutput()
digital_output.values = [ True, True, True, True ]
digital_output.mask = [ True, True, True, True ]
print ""
#print "If you want to control the timing of publish, uses -p option."
#print ""
print "Control External Power"
print "----------------------"
print "1: Toggle the state of 3.3V"
print "2: Toggle the state of 5V"
print "3: Toggle the state of 12V5A(arm)"
print "4: Toggle the state of 12V1A(kinect)"
print ""
#print "p: publish power on/off status"
print "q: quit"
print ""
#rospy initial setup
rospy.init_node("test_output")
rospy.on_shutdown(clearing)
rate = rospy.Rate(10)
pub_ext_pwr = rospy.Publisher('/mobile_base/commands/external_power',
DigitalOutput)
pub_dgt_out = rospy.Publisher('/mobile_base/commands/digital_output',
DigitalOutput)
pub = []
pub.append(rospy.Publisher('/mobile_base/commands/led1', Led))
pub.append(rospy.Publisher('/mobile_base/commands/led2', Led))
pub_sounds = rospy.Publisher('/mobile_base/commands/sound', Sound)
# initial values
external_power = DigitalOutput()
external_power.values = [True, True, True, True]
external_power.mask = [True, True, True, True]
digital_output = DigitalOutput()
digital_output.values = [True, True, True, True]
digital_output.mask = [True, True, True, True]
leds = []
leds.append(Led())
leds.append(Led())
leds[0].value = Led.GREEN
leds[1].value = Led.GREEN
# initialize outputs
while not pub_ext_pwr.get_num_connections():
def main():
global bumper
print("Lancement navigation aleatoire")
rospy.init_node('navigation_aleatoire')
rospy.sleep(0.5)
rospy.Subscriber("/mobile_base/events/bumper", BumperEvent, bumper)
# rospy.Subscriber("/facedetector/faces",Detection , face)
# rospy.Subscriber("/camera/depth/image_rect",Image, image)
pub = rospy.Publisher("/mobile_base/commands/velocity", Twist)
# pub2 = rospy.Publisher("/robotsound", SoundRequest)
pub3 = rospy.Publisher("/mobile_base/commands/sound", Sound)
pub4 = rospy.Publisher("/mobile_base/commands/digital_output", DigitalOutput)
ic=image_converter()
cmd = Twist()
# sound = SoundRequest()
sonnerie = Sound()
# sound.arg = "/opt/ros/indigo/share/sound_play/sounds/R2D2a.wav"
# sound.sound = -2
# sound.command = 1
sonnerie.value= 6
digOut=DigitalOutput()
digOut.values= [False, False, False, False]
digOut.mask=[True, False, False, False]
flag=0
while not rospy.is_shutdown():
duree= 1+random.random()*5
tempsActuel = rospy.get_time()
stop = rospy.get_time() + duree
while (rospy.get_time() < stop):
if bumper==0 or bumper1 ==0 :
cmd.linear.x = 0
cmd.angular.z = -2
pub.publish(cmd)
rospy.sleep(0.5)
bumper=3
elif bumper==1 or bumper1==1:
cmd.linear.x = -0.2
cmd.angular.z = 0
digOut.values[0]=True
pub.publish(cmd)
# pub2.publish(sound)
pub4.publish(digOut)
rospy.sleep(5)
while (NbGens>0):
rospy.sleep(2.5)
flag=1
digOut.values[0]=False
if flag==1:
pub3.publish(sonnerie)
rospy.sleep(0.5)
flag=0
pub4.publish(digOut)
rospy.sleep(0.5)
cmd.linear.x = -0.2
cmd.angular.z = 2
pub.publish(cmd)
rospy.sleep(0.5)
bumper=3
elif bumper==2 or bumper1==2:
cmd.linear.x = 0
cmd.angular.z = 2
pub.publish(cmd)
rospy.sleep(0.5)
bumper=3
else:
cmd.linear.x = 0.2
cmd.angular.z = 0
pub.publish(cmd)
rospy.sleep(0.5)
# if bumper>2:
# bumper = math.floor(random.random()*10)
# if bumper == 1:
# bumper=3
print("fin navigation autonome")
rospy.spin() #boucle infinie tant qu'on quitte pas proprement
def __init__(self):
rospy.on_shutdown(self.cleanup)
# Subscribe to the /mobile_base/events/digital_input topic to receive digital input
rospy.Subscriber('/mobile_base/events/digital_input', DigitalInputEvent, self.DigitalInputEventCallback)
# Subscribe to the /mobile_base/events/button topic to receive built-in button input
rospy.Subscriber('/mobile_base/events/button', ButtonEvent, self.ButtonEventCallback)
# Subscribe to the /mobile_base/events/bumper topic to receive bumper input
rospy.Subscriber('/mobile_base/events/bumper', BumperEvent, self.BumperEventCallback)
# publish Led messages to /mobile_base/commands/led1 & /mobile_base/commands/led2 topics to give Led signal
self.pub1 = rospy.Publisher('/mobile_base/commands/led1', Led)
self.pub2 = rospy.Publisher('/mobile_base/commands/led2', Led)
self.led1 = Led()
self.led2 = Led()
# publish Led messages to /mobile_base/commands/digital_output to give digital signal
self.pub3 = rospy.Publisher('/mobile_base/commands/digital_output', DigitalOutput)
self.digital_out = DigitalOutput()
# while loop
while not rospy.is_shutdown():
if digital_in[1]==True:
rospy.loginfo("button 1 pressed !!!")
elif digital_in[2]==True:
rospy.loginfo("button 2 pressed !!!")
elif digital_in[3]==True:
rospy.loginfo("button 3 pressed !!!")
if bumper == 0:
if bumper_state == 1:
self.led1.value = 1
elif bumper == 1:
if bumper_state == 1:
self.led1.value = 2
elif bumper == 2:
if bumper_state == 1:
self.led1.value = 3
if button == 0:
if button_state == 1:
self.led1.value = 1
self.digital_out.values = [False, False, False, False]
self.digital_out.mask = [True, True, True, True]
elif button == 1:
if button_state == 1:
self.led1.value = 2
self.digital_out.values = [True, True, True, True]
self.digital_out.mask = [True, True, True, True]
elif button == 2:
if button_state == 1:
self.led1.value = 3
self.pub1.publish(self.led1)
self.pub2.publish(self.led2)
self.pub3.publish(self.digital_out)
rospy.Rate(4).sleep()
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy
from kobuki_msgs.msg import DigitalOutput
rospy.init_node("test_digital_output")
pub = rospy.Publisher('/mobile_base/commands/digital_output',DigitalOutput)
rate = rospy.Rate(1)
digital_output = DigitalOutput()
digital_output.values = [ False, False, False, False]
digital_output.mask = [ True, True, False, True ]
print ""
print "This program will start sending a variety of digital io signals to the robot."
print "It will set all output signals to false, then iteratively turn each one to True"
print "In doing so, it will cycle through a mask that will negate the setting for one"
print "of the outputs. The process then repeats itself masking the next output in the"
print "sequence instead."
print ""
while not rospy.is_shutdown():
# incrementally convert a false, to true and then reset them all to false.
try:
index = digital_output.values.index(False)
for i in range(0,4):
if not digital_output.values[i]:
def change_mode(request):
pub = rospy.Publisher('mobile_base/commands/digital_output', DigitalOutput, queue_size = 1)
output = DigitalOutput()
output.mask = [False, True, True, True]
if (request.mode == request.OFF):
output.values[1] = False
output.values[2] = False
output.values[3] = False
elif (request.mode == request.BLINK_SLOW):
output.values[1] = False
output.values[2] = True
output.values[3] = False
elif (request.mode == request.BLINK_FAST):
output.values[1] = True
output.values[2] = False
output.values[3] = False
elif (request.mode == request.ALIVE):
output.values[1] = True
output.values[2] = True
output.values[3] = False
elif (request.mode == request.R_ON):
output.values[1] = False
output.values[2] = False
output.values[3] = True
elif (request.mode == request.R_SLOW):
output.values[1] = False
output.values[2] = True
output.values[3] = True
elif (request.mode == request.R_FAST):
output.values[1] = True
output.values[2] = False
output.values[3] = True
elif (request.mode == request.ROSE):
output.values[1] = True
output.values[2] = True
output.values[3] = True
pub.publish(output)
