def _play(self, animation, fps, name):
if not self._acquireChannel(name):
rospy.logerr("Unable to play %s. Anopther animation is running.")
return
try:
#start = time()
dt = 1.0 / float(fps)
t = time()
for f in animation.frames(self._last_postions):
for m in f:
if m in self._cmders:
msg = self._cmders[m].msg_fracDist(f[m])
self._pub(msg)
else:
if m in self._motors:
self._cmders[m] = MotorCmder(self._motors[m])
msg = self._cmders[m].msg_fracDist(f[m])
self._pub(msg)
self._last_postions[m] = f[m]
# Exclude execution for more accurate timing
t2 = time()
i = dt - t2 + t
if i > 0:
sleep(i)
t = time()
except:
rospy.logerr("Error play animation {}".format(animation))
finally:
self._releaseChannel(name)
def __init__(self, motors_yaml):
motor_commanders = []
for motor_entry in motors_yaml:
try:
motor_commanders.append(MotorCmder(motor_entry))
except:
print "Failed to create motor Entry {}".format(motor_entry)
self.motor_commanders = motor_commanders
def __init__(self, motors_yaml):
motor_commanders = []
for motor_entry in motors_yaml:
motor_commanders.append(MotorCmder(motor_entry))
self.motor_commanders = motor_commanders
def __init__(self, expr_entry, motor_yaml):
# Create MotorCmder objects.
cmders = []
for motorname in expr_entry:
cmders.append(MotorCmder(motor_yaml[motorname], expr_entry[motorname]))
self.motor_commanders = cmders