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)
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()
max_count = 0
count = 0
stream = PiRGBArray(camera)
try:
while True:
roomba.move(0.0, np.deg2rad(0.0)) # stop
sleep(1.0)
camera.capture(stream, 'bgr', use_video_port=True)
count += 1
if count > max_count:
X = []
img_org = stream.array
img = cv2.resize(img_org, (64, 64))
img = img_to_array(img)
X.append(img)
X = np.asarray(X)
X = X/255.0
start = time.time()
preds = model_pred.predict(X)
"""
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