def __init__(self):
self.server_robot = ServerRobot()
rospy.init_node('robot_server', anonymous=False)
rospy.Subscriber('robot_command_json',
MsgRobotCommand,
self.callback,
queue_size=None)
def __init__(self):
rospy.init_node('robot_service_server', anonymous=False)
self.service = rospy.Service('robot_send_command', SrvRobotCommand,
self.cb_robot_command)
robot_ip = rospy.get_param('~robot_ip', '192.168.30.4')
self.server_robot = ServerRobot()
self.server_robot.connect(robot_ip)
rospy.on_shutdown(self.server_robot.disconnect)
rospy.spin()
