def request(receiver, loc_name):
msg = CommunicationProtocol()
msg.sender = name
msg.receiver = receiver
msg.request = "request %s"%(loc_name)
#msg.location = get_own_pose()
comm_pub.publish(msg)
def execute(self, userdata):
found = 'tb05'
foreign_master_uri = make_master_uri(found)
try:
msg = CommunicationProtocol()
msg.sender = self.id
msg.receiver = found
msg.request = 'hive'
connect(self.topic, foreign_master_uri)
rospy.sleep(0.2)
self.publisher.publish(msg)
disconnect(self.topic, foreign_master_uri)
except:
print "exception"
disconnect(self.topic, foreign_master_uri)
return 'done'
def execute(self, userdata):
found = 'tb05'
foreign_master_uri = make_master_uri(found)
try:
msg = CommunicationProtocol()
msg.sender = self.id
msg.receiver = found
msg.request = 'hive'
connect(self.topic, foreign_master_uri)
rospy.sleep(0.2)
self.publisher.publish(msg)
disconnect(self.topic, foreign_master_uri)
except:
print "exception"
disconnect(self.topic, foreign_master_uri)
return 'done'
def answer(receiver, loc_name, pose):
msg = CommunicationProtocol()
msg.sender = name
msg.receiver = receiver
msg.request = "answer %s"%(loc_name)
msg.location = pose
#thread.start_new_thread(send,(receiver, msg))
comm_pub.publish(msg)
def answer(receiver, loc_name, pose):
msg = CommunicationProtocol()
msg.sender = name
msg.receiver = receiver
msg.request = "answer %s"%(loc_name)
msg.location = pose
msg.location.header.stamp = rospy.Time.now()
comm_pub.publish(msg)
def request(receiver, loc_name):
msg = CommunicationProtocol()
msg.sender = name
msg.receiver = receiver
msg.request = "request %s"%(loc_name)
msg.location = turtles[receiver]
#thread.start_new_thread(send,(receiver, msg))
#send(receiver, msg)
comm_pub.publish(msg)
def udp_callback(channel, data):
msg = CommunicationProtocol()
msg.deserialize(data)
pub.publish(msg)
def udp_callback(channel, data):
msg = CommunicationProtocol()
msg.deserialize(data)
pub.publish(msg)
