def __init__(self):
rospy.initnode('obstacle_avoidance')
self.cmdvel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
self.rospy.Subscriber('dist_back', Float32, self.dist_back_callback)
self.rospy.Subscriber('dist_right', Float32, self.dist_right_callback)
self.rospy.Subscriber('dist_left', Float32, self.dist_left_callback)
def talker():
pub = rospy.Publisher('miprimertopicenROS', String, queuesize=10)
rospy.initnode('talker', anonymous=True)
rate = rospy.Rate(10) #10 hz
while not rospy.isshutdown():
hellostr="Hola grupo de robotica %s" %rospy.gettime()
rospy.loginfo(hellostr)
pub.publish(hellostr)
rate.sleep()
def __init__(self):
rospy.initnode('wallfollower')
self.safeDistance = 2
self.following = LEFT #f o l l o w i n g w a l l on LEFT or RIGHT
self.listener = tf.TransformListener()
self.publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
self.subscriber = rospy.Subscriber('/base_scan', LaserScan,
self.scanReceived)
self.m = Marker.Markers() #used f o r draw ing in r v i z
#!/usr/bin/env python
import rospy
import math
import tf2_ros
import geometry_msgs.msg
if __name__ == '__main__':
rospy.initnode('tf_yippy_listener')
tfBuffer = tf2_ros.Buffer()
listener = tf2_ros.TransformListener(tfBuffer)
# transform a point once every second
rate = rospy.Rate(10.0)
while not rospy.is_shutdown():
try:
trans = tfBuffer.lookup_transform()
rospy.spin()
def __init__(self, debug=True):
rospy.initnode("CameraTest")
self.image_sub = rospy.Subscriber("/angela/cameras/main/capture",
Image, self.imageCallback)
rospy.spin