def __init__(self):
# Start the node
rospy.init_node('armDriver', anonymous=True)
self.armDriver = ArmDriver()
# Setup topics so that users can control the motors
self.setArmMotorStatesTopic = rospy.Subscriber(
"setArmMotorStates", maplin_arm.msg.SetMotorStates,
self.setArmMotorStatesCallback)
def listener(self):
# In ROS, nodes are uniquely named. If two nodes with the same
# name are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
self.armDriver = ArmDriver()
rospy.Subscriber('setArmMotorStates', SetMotorStates,
self.setArmMotorStatesCallback)
rospy.Timer(rospy.Duration(2), self.my_callback)
rospy.spin()
