def __init__(self):
print('Roomba node!')
super().__init__('roomba_node')
PORT = "/dev/ttyUSB0"
self.adapter = PyRoombaAdapter(PORT)
self.twist_sub = self.create_subscription(Twist, "/cmd_vel",
self.twist_callback)
class RoombaNode(Node):
def __init__(self):
print('Roomba node!')
super().__init__('roomba_node')
PORT = "/dev/ttyUSB0"
self.adapter = PyRoombaAdapter(PORT)
self.twist_sub = self.create_subscription(Twist, "/cmd_vel",
self.twist_callback)
def twist_callback(self, msg):
print('callback')
velocity = msg.linear.x
yaw_rate = msg.angular.z
self.adapter.move(velocity, yaw_rate)
"""
Go and back example with roomba
"""
from time import sleep
import math
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.move(0.2, math.radians(0.0)) # go straight
sleep(1.0)
adapter.move(0, math.radians(-20)) # turn right
sleep(6.0)
adapter.move(0.2, math.radians(0.0)) # go straight
sleep(1.0)
adapter.move(0, math.radians(20)) # turn left
sleep(6.0)
"""
Play Darth Vader song
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.send_song_cmd(0, 9,
[69, 69, 69, 65, 72, 69, 65, 72, 69],
[40, 40, 40, 30, 10, 40, 30, 10, 80])
adapter.send_play_cmd(0)
sleep(10.0)
from time import sleep
import random
from pyroombaadapter import PyRoombaAdapter
if __name__ == '__main__':
# parse options
parser = argparse.ArgumentParser(description='keras-pi.')
parser.add_argument('-m', '--model', default='./model/mnist_deep_model.json')
parser.add_argument('-w', '--weights', default='./model/weights.20.hdf5')
parser.add_argument('-l', '--labels', default='./model/labels.txt')
args = parser.parse_args()
PORT = '/dev/ttyUSB0'
roomba = PyRoombaAdapter(PORT)
camera = PiCamera()
camera.resolution = (640, 480)
labels = []
with open(args.labels,'r') as f:
for line in f:
labels.append(line.rstrip())
print(labels)
model_pred = model_from_json(open(args.model).read())
model_pred.load_weights(args.weights)
# model_pred.summary()
args = parser.parse_args()
cmd = args.command.lower()
### Turn on roomba if "on" cmd
if cmd == "on":
print("Powering on Roomba...")
GPIO.setmode(GPIO.BCM)
GPIO.setup(power_on_pin, GPIO.OUT)
GPIO.output(power_on_pin, GPIO.HIGH)
time.sleep(power_on_duration_sec)
GPIO.output(power_on_pin, GPIO.LOW)
print("Roomba should be powered on")
exit()
### Establish connection
adapter = PyRoombaAdapter(SERIAL_PORT)
print("Command: %s" % cmd)
if cmd == "clean":
adapter.start_cleaning()
elif cmd == "off":
#can't be started again without physical button push
adapter.turn_off_power()
elif cmd == "stop":
adapter.change_mode_to_passive()
elif cmd == "bclean":
#functions same as "clean"
adapter.send_buttons_cmd(clean=True)
elif cmd == "dock":
adapter.start_seek_dock()
"""
Go and back example with roomba
"""
from time import sleep
import numpy as np
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.move(0.2, np.deg2rad(0.0)) # go straight
sleep(1.0)
adapter.move(0, np.deg2rad(-20)) # turn right
sleep(6.0)
adapter.move(0.2, np.deg2rad(0.0)) # go straight
sleep(1.0)
adapter.move(0, np.deg2rad(20)) # turn left
sleep(6.0)
"""
Go and back example with roomba
"""
from time import sleep
import numpy as np
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
while (1):
adapter.move(0.2, np.deg2rad(0.0)) # go straight
class RoombaDriverNode(object):
def __init__(self):
self.rate = rospy.Rate(66) # Robot updates data every 15ms
# Robot customization
self.port = rospy.get_param("port", "/dev/ttyUSB0")
self.use_bumpers = rospy.get_param("use_bumpers", False)
self.use_cliff_sensors = rospy.get_param("use_cliff_sensors", False)
self.use_ir_receiver = rospy.get_param("use_ir_receiver", False)
self.use_wheel_drops = rospy.get_param("use_wheel_drops", False)
self.use_ir_sensors = rospy.get_param("use_ir_sensors", False)
self.use_brushes = rospy.get_param("use_brushes", False)
self.use_leds = rospy.get_param("use_leds", False)
self.use_songs = rospy.get_param("use_songs", False)
self.use_seven_segment_display = rospy.get_param(
"use_seven_segment_display", False)
# Publishers
self.pub_battery = rospy.Publisher("battery", Battery, queue_size=10)
self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=10)
self.pub_bumpers = rospy.Publisher("bumpers",
BumperEvent,
queue_size=10)
self.pub_buttons = rospy.Publisher("buttons", Battery, queue_size=10)
if self.use_cliff_sensors:
self.pub_cliff = rospy.Publisher("cliff",
CliffEvent,
queue_size=10)
if self.use_ir_receiver:
self.pub_ir = rospy.Publisher("ir_receivers",
InfraRedEvent,
queue_size=10)
if self.use_wheel_drops:
self.pub_wheel_drops = rospy.Publisher("wheel_drops",
WheelDropEvent,
queue_size=10)
if self.use_ir_sensors:
self.pub_range = rospy.Publisher("range", Range, queue_size=10)
if self.use_brushes:
self.pub_brushes = rospy.Publisher("brushes", Brush, queue_size=10)
if self.use_leds:
self.pub_leds = rospy.Publisher("leds", SetLeds, queue_size=10)
if self.use_songs:
self.pub_song = rospy.Publisher("play_song",
PlaySong,
queue_size=10)
if self.use_seven_segment_display:
self.pub_seven_seg_display = rospy.Publisher(
"seven_segment_display", SevenSegmentDisplay, queue_size=10)
# Subscribers
rospy.Subscriber("cmd_vel", Twist, self.cb_cmd_vel)
def connect(self):
self.adapter = PyRoombaAdapter(self.port)
def publish(self):
sensors = self.adapter.sensors()
now = rospy.Time.now()
battery = Battery(stamp=now)
battery.state = Battery.CORD if sensors[
"Charging State"] == 1 else Battery.DOCK if sensors[
"Charging State"] == 2 else Battery.NOT_CHARGING
battery.level = 100 * sensors["Battery Charge"] / sensors[
"Battery Capacity"]
#battery.time_remaining = rospy.Duration(battery.level/(last_charge-))
self.pub_battery.publish(battery)
if self.use_cliff_sensors: self.pub_cliff.publish(CliffEvent())
if self.use_ir_receiver: self.pub_ir.publish()
if self.use_wheel_drops: self.pub_wheel_drops.publish()
if self.use_ir_sensors: self.pub_range.publish()
if self.use_brushes: self.pub_brushes.publish()
if self.use_leds: self.pub_leds.publish()
if self.use_songs: self.pub_song.publish()
if self.use_seven_segment_display: self.pub_seven_seg_display.publish()
def run(self):
while not rospy.is_shutdown():
self.publish()
self.rate.sleep()
def connect(self):
self.adapter = PyRoombaAdapter(self.port)