def __init__(self, serial_dev):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
self.serial_dev = serial_dev
ChassisDev.__init__(self, "move_ctrl",
sub_topic = "cmd_vel",
sub_msg_class = Twist)
def __init__(self, serial_dev):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
self.serial_dev = serial_dev
ChassisDev.__init__(self, "Servo",
sub_topic = "/robot_chassis/Servo",
sub_msg_class = Byte)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "smart_battery",
pub_topic = "smart_battery",
pub_msg_class = SmartBatteryStatus)
self.battery_status = SmartBatteryStatus()
ChassisDev.start_pub(self)
def __init__(self, serial_dev):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
self.serial_dev = serial_dev
ChassisDev.__init__(self,
"move_ctrl",
sub_topic="cmd_vel",
sub_msg_class=Twist)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"chassis",
pub_topic="imu/data_raw",
pub_rate=10,
pub_msg_class=Imu)
self.imu = Imu()
ChassisDev.start_pub(self)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "Chassis",
pub_topic = "/encoder_cnts",
pub_msg_class = Float32MultiArray,
pub_rate = 20)
self.counters = Float32MultiArray()
ChassisDev.start_pub(self)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "Speed",
pub_topic = "/speed_wheel",
pub_msg_class = Float32MultiArray,
pub_rate = 20)
self.speeds = Float32MultiArray()
self.speeds.data = [0,0,0]
ChassisDev.pub_data_update(self, self.speeds)
ChassisDev.start_pub(self)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"Chassis",
pub_topic="/encoder_cnts",
pub_msg_class=Float32MultiArray,
pub_rate=20)
self.counters = Float32MultiArray()
ChassisDev.start_pub(self)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"Speed",
pub_topic="/speed_wheel",
pub_msg_class=Float32MultiArray,
pub_rate=20)
self.speeds = Float32MultiArray()
self.speeds.data = [0, 0, 0]
ChassisDev.pub_data_update(self, self.speeds)
ChassisDev.start_pub(self)
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "chassis", pub_topic="imu/data_raw", pub_rate=10, pub_msg_class=Imu)
self.imu = Imu()
ChassisDev.start_pub(self)
