#!/usr/bin/env python
# -*- encoding: utf-8 -*-
from superros.comm import RosNode
from std_msgs.msg import Float32
node = RosNode("amplifier")
node.setHz(node.setupParameter("hz", 30))
node.createBufferedSubscriber("in", Float32)
node.createPublisher("out", Float32)
while node.isActive():
data = Float32(node.getBufferedData("in").data * 2.0)
node.getPublisher("out").publish(data)
node.tick()
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
from superros.comm import RosNode
from std_msgs.msg import Float32
import math
node = RosNode("sin")
node.setHz(node.setupParameter("hz", 30))
node.createPublisher("in", Float32)
node.createPublisher("in2", Float32)
node.createPublisher("in3", Float32)
while node.isActive():
data = Float32(math.sin(2 * 3.14 * 1.0 * node.getCurrentTimeInSecs()))
data2 = Float32(math.sin(2 * 3.14 * 2.0 * node.getCurrentTimeInSecs()))
data3 = Float32(math.sin(2 * 3.14 * 3.0 * node.getCurrentTimeInSecs()))
node.getPublisher("in").publish(data)
node.getPublisher("in2").publish(data2)
node.getPublisher("in3").publish(data3)
node.tick()
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
from superros.comm import RosNode
from std_msgs.msg import Float32
import math
node = RosNode("math_publisher_sin")
node.setHz(node.setupParameter("hz", 30))
topic_name = node.setupParameter("topic_name", "math_publisher_sin")
frequency = node.setupParameter("frequency", 1.0)
node.createPublisher(topic_name, Float32)
while node.isActive():
data = Float32(
math.sin(2 * math.pi * frequency * node.getCurrentTimeInSecs()))
node.getPublisher(topic_name).publish(data)
node.tick()
