def myupdate(me, world_name, sim_time, real_time): swarm.gzmsg('[%s] update()' % (me)) for n in swarm.neighbors(me): swarm.send_to(me, "unicast to %s" % (n), n, 1234) swarm.send_to(me, "broadcast to everyone", "broadcast", 1234) swarm.send_to(me, "multicast to some", "multicast", 1234) swarm.set_linear_velocity(me, 0.5, 0, 0) swarm.set_angular_velocity(me, 0, 0, 0.25) pose = swarm.pose(me) swarm.gzmsg('[%s] pose: [%f, %f, %f]' % (me, pose[0], pose[1], pose[2])) imu = swarm.imu(me) swarm.gzmsg('[%s] imu: [%f, %f, %f, %f, %f, %f, %f, %f, %f]' % (me, imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], imu[6], imu[7], imu[8])) bearing = swarm.bearing(me) swarm.gzmsg('[%s] bearing: %f' % (me, bearing)) image = swarm.image(me) swarm.gzmsg('[%s] image: %s' % (me, image)) swarm.gzmsg('[%s] terrain type: %s' % (me, swarm.terrain_type(me))) swarm.gzmsg('[%s] docked?: %d' % (me, swarm.is_docked(me))) swarm.launch(me) swarm.dock(me, me)
def connect(options): swarm.launch("swarm", options) return True
def start(options): swarm.launch("swarm", options) swarm.launch("proxy", options) return True