def __init__(self,pinT,pinS):
self.__mStateDeclarator = settings_store_client.StateDeclarator()
self.__mPowerWatchdog = settings_store_client.PowerWatchdog(self.__mStateDeclarator);
self.mRosPublisherThrottle = rospy.Publisher('/throttles', std_msgs.msg.Float32, queue_size=1)
self.throttles = 0
self.steering = 0
self.settings = ActuatorSettings()
self.mGoalThrottle=0 #-1 pour marche arriere max 0 arret 1 marche avant max
self.mGoalSteering=0
self.mLastNonNullGoalThrottle = 0
self.__mGpio = None
try:
self.__mGpio = pigpio.pi()
except:
self.__mGpio = None
self.pinT=pinT
self.pinS=pinS
self.__mStateDeclarator.setState("actuator/enable","disable")
time.sleep(5)
if self.__mGpio is None:
self.__mStateDeclarator.setState("init/actuator",False)
rospy.logerr('Fail to open gpio, actuator will not work properly')
else:
self.__mStateDeclarator.setState("init/actuator",True)
rospy.logwarn('Powertrain is ready')
def __init__(self, pinA, pinB, pinC, pinD, settings):
self.speed = 0
self.thrust = [0, 0, 0, 0] # Thrust table for all the engines
self.mthrust = 0 # Command Thrust
self.mGoalSpeed = 0. # Goal Speed
self.mGpio = pigpio.pi()
self.pinA = pinA
self.pinB = pinB
self.pinC = pinC
self.pinD = pinD
self.sRosPublisher = rospy.Publisher('emaginarium/DiagThrust',
emaginarium.msg.DiagThrust,
queue_size=5)
self.settings = settings # Goal Speed propotional gain
self.mStateDeclarator = settings_store_client.StateDeclarator()
self.mPowerWatchdog = settings_store_client.PowerWatchdog(
self.mStateDeclarator)
lSettings = CommandThrustSettings()
self.mStateDeclarator.setState("actuator/enable", "disable")
self.mStateDeclarator.setState("init/actuator", True)
try:
self.updateThrust() # mandatory init engines
except:
rospy.logerr('Fail to initialize engines')
self.mGpio = None
time.sleep(5)
print('Powertrain is ready')
self.updateThrust()
def __init__(self):
self.__mStateDeclarator = settings_store_client.StateDeclarator()
self.__mPowerWatchdog = settings_store_client.PowerWatchdog(
self.__mStateDeclarator)
self.mRosPublisherThrottle = rospy.Publisher('/throttles',
std_msgs.msg.Float32,
queue_size=1)
self.mRosPublisherPingLidardDist = rospy.Publisher(
'emobile/PingLidarDist', std_msgs.msg.Float32, queue_size=1)
self.mRosPublisherSpeed = rospy.Publisher('/speed',
std_msgs.msg.Float32,
queue_size=1)
self.mRosPublisherOdometry = rospy.Publisher('/odometry',
std_msgs.msg.Float32,
queue_size=1)
self.throttles = 0
self.steering = 0
self.settings = ActuatorSettings()
self.mGoalThrottle = 0 #-1 pour marche arriere max 0 arret 1 marche avant max
self.mGoalSteering = 0
self.mLastNonNullGoalThrottle = 0
self.mIsInitialized = False
self.__mSerialPort = None
try:
self.__mSerialPort = serial.Serial('/dev/ttyTHS1',
baudrate=115200,
timeout=1)
except:
self.__mSerialPort = None
self.__mStateDeclarator.setState("actuator/enable", "disable")
time.sleep(5)
if self.__mSerialPort is None:
self.__mStateDeclarator.setState("init/actuator", False)
rospy.logerr('Fail to open esp32.')
else:
self.__mStateDeclarator.setState("init/actuator", True)
rospy.logwarn('Powertrain is ready')
self.mIsInitialized = True
def __init__(self):
parser = cmdline.create_parser(
description='') #description='luma.examples arguments'
args = parser.parse_args([])
self.__mStateDeclarator = settings_store_client.StateDeclarator()
# fc-list | grep Vera
self.__mFontName = {}
self.__mFontName[(True, True)] = "VeraBI.ttf"
self.__mFontName[(True, False)] = "VeraBd.ttf"
self.__mFontName[(False, True)] = "VeraIt.ttf"
self.__mFontName[(False, False)] = "Vera.ttf"
self.__mDevice = None
# create device
try:
self.__mDevice = cmdline.create_device(args)
self.__mDevice.clear()
#create buffer
self.__mBuffer = Image.new("RGB", self.__mDevice.size)
self.__mBufferTmp = Image.new("RGB", self.__mDevice.size)
self.__mHasPendingChanges = True
self.__mPreviousBrightness = -1
rospy.Subscriber('/oled_display/draw_rect',
grading_machine.msg.DisplayDrawRect,
self.__onDrawRect)
rospy.Subscriber('/oled_display/draw_text',
grading_machine.msg.DisplayDrawText,
self.__onDrawText)
self.__mStateDeclarator.setState('i2c_display', 'ok')
except:
self.__mDevice = None
rospy.logerr('Fail to initialize i2c oled display')
self.__mStateDeclarator.setState('i2c_display', 'error')
from numpy import pi
from settings_store import settings_store_client
# parameters
# opening of the sensor (deg)
opening = 95
# number of beams
nBeams = 8
# range
rangemin = 0.0
rangemax = 15.0
# init ros node
rospy.init_node('leddar')
lStateDeclarator = settings_store_client.StateDeclarator()
pub = rospy.Publisher('/leddarVu8', LaserScan, queue_size=1)
lRate = rospy.Rate(30)
# init serial connection
lSerialPort = rospy.get_param('/leddarVu8/serialPort')
m = None
lAllIsOk = True
try:
import minimalmodbus
minimalmodbus.BAUDRATE = 115200
except:
rospy.logerr('Fail to import minimalmodbus')