def __init__(self, frame, data, switchPorts):
DeviceFrame.__init__(self, SWITCH, frame, data)
self.mainPorts = switchPorts
self._pubHz = "20"
self._name = "RiC_Switch"
self._port = str(self.mainPorts.currentText())
def __init__(self, frame, data, switchPorts):
DeviceFrame.__init__(self, SWITCH, frame, data)
self.mainPorts = switchPorts
self._pubHz = '20'
self._name = 'RiC_Switch'
self._port = str(self.mainPorts.currentText())
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._tf_map_scanmatch_transform_frame_name = 'scanmatcher_frame'
self._base_frame = 'base_link'
self._odom_frame = 'odom_link'
self._map_frame = 'map'
self._scan_topic = 'scan'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._tf_map_scanmatch_transform_frame_name = 'scanmatcher_frame'
self._base_frame = 'base_link'
self._odom_frame = 'odom_link'
self._map_frame = 'map'
self._scan_topic = 'scan'
def __init__(self, frame, data):
DeviceFrame.__init__(self, IMU, frame, data)
self._pubHz = '50'
self._name = 'RiC_IMU'
self._frameId = 'RiC_Frame'
self._decAng = '0'
self._orientation = '0'
self._fusionHz = '10'
def __init__(self, frame, data, urfPorts):
DeviceFrame.__init__(self, URF, frame, data)
self.mainPorts = urfPorts
self._pubHz = "50"
self._name = "RiC_URF"
self._frameId = "RiC_URF_Frame"
self._urfType = "10"
self._port = str(self.mainPorts.currentText())
def __init__(self, frame, data, urfPorts):
DeviceFrame.__init__(self, URF, frame, data)
self.mainPorts = urfPorts
self._pubHz = '50'
self._name = 'RiC_URF'
self._frameId = 'RiC_URF_Frame'
self._urfType = '10'
self._port = str(self.mainPorts.currentText())
def __init__(self, frame, data, urfPorts):
DeviceFrame.__init__(self, URF, frame, data)
self.mainPorts = urfPorts
self._pubHz = '50'
self._name = 'RiC_URF'
self._frameId = 'RiC_URF_Frame'
self._urfType = '10'
self._port = str(self.mainPorts.currentText())
def __init__(self, frame, data):
DeviceFrame.__init__(self, IMU, frame, data)
self._pubHz = '50'
self._name = 'RiC_IMU'
self._frameId = 'RiC_Frame'
self._decAng = '0'
self._orientation = '0'
self._fusionHz = '10'
self._enableFuseGyro = False
def __init__(self, frame, data):
DeviceFrame.__init__(self, OPEN_LOP, frame, data)
self._name = 'motor'
self._driverAdd = '128'
self._channel = '1'
self._timeout = '1000'
self._maxSpeed = '127'
self._dirMotor = False
def __init__(self, frame, data):
DeviceFrame.__init__(self, OPEN_LOP, frame, data)
self._name = 'motor'
self._driverAdd = '128'
self._channel = '1'
self._timeout = '1000'
self._maxSpeed = '127'
self._dirMotor = False
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._name = 'RiC_CAM'
self._output = 'screen'
self._respawn = 'true'
self._videoDevice = '/dev/video0'
self._frameId = 'Head_Camera'
self._format = 'yuyv'
self._width = '640'
self._height = '480'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._name = 'RiC_CAM'
self._output = 'screen'
self._respawn = 'true'
self._videoDevice = '/dev/video0'
self._frameId = 'Head_Camera'
self._format = 'yuyv'
self._width = '640'
self._height = '480'
def __init__(self, frame, data, motors):
DeviceFrame.__init__(self, DIFF_OPEN, frame, data)
self.motors = motors
self._name = 'diff_driver'
self._rWheel = '0.065'
self._width = '0.255'
self._maxAg = '16.0'
self._maxLn = '16.0'
self._motorL = '1'
self._motorR = '2'
def __init__(self, frame, data, motors):
DeviceFrame.__init__(self, DIFF_OPEN, frame, data)
self.motors = motors
self._name = 'diff_driver'
self._rWheel = '0.065'
self._width = '0.255'
self._maxAg = '16.0'
self._maxLn = '16.0'
self._motorL = '1'
self._motorR = '2'
def __init__(self, frame, data, servoPorts):
DeviceFrame.__init__(self, SERVO, frame, data)
self._pubHz = "10"
self._name = "RiC_Servo"
self._initPos = "999.0"
self._min = "-1.57"
self._max = "1.57"
self._a = "90.0"
self._b = "57.3"
self._port = str(servoPorts.currentText())
self._isinitPos = False
self.mainPorts = servoPorts
def __init__(self, frame, data, servoPorts):
DeviceFrame.__init__(self, SERVO, frame, data)
self._pubHz = '10'
self._name = 'RiC_Servo'
self._initPos = '999.0'
self._min = '-1.57'
self._max = '1.57'
self._a = '90.0'
self._b = '57.3'
self._port = str(servoPorts.currentText())
self._isinitPos = False
self.mainPorts = servoPorts
def __init__(self,frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._diffDriverTopic = 'diff/command'
self._smoothTopic = 'diff/smooth_command'
self._diffDriverFeedback = 'diff/command'
self._diffDriverOdometryFeedback = 'diff/odometry'
self._speedLimitLinear = '0.8'
self._speedLimitAngular = '5.4'
self._accelerationLimitLinear = '0.3'
self._accelerationLimitAngular = '3.5'
self._frequency = '20.0'
self._deceleration = '1.0'
self._robotFeedback = '2'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._diffDriverTopic = 'diff/command'
self._smoothTopic = 'diff/smooth_command'
self._diffDriverFeedback = 'diff/command'
self._diffDriverOdometryFeedback = 'diff/odometry'
self._speedLimitLinear = '0.8'
self._speedLimitAngular = '5.4'
self._accelerationLimitLinear = '0.3'
self._accelerationLimitAngular = '3.5'
self._frequency = '20.0'
self._deceleration = '1.0'
self._robotFeedback = '2'
def __init__(self, frame, data, motors):
DeviceFrame.__init__(self, DIFF_CLOSE, frame, data)
self.motors = motors
self._pubHz = '50'
self._name = 'diff_driver'
self._rWheel = '0.065'
self._width = '0.255'
self._base = 'base_link'
self._odom = 'odom_link'
self._slip = '0.85'
self._maxAg = '16.0'
self._maxLn = '16.0'
self._motorL = '0'
self._motorR = '1'
def __init__(self, frame, data, motors):
DeviceFrame.__init__(self, DIFF_CLOSE, frame, data)
self.motors = motors
self._pubHz = '50'
self._name = 'diff_driver'
self._rWheel = '0.065'
self._width = '0.255'
self._base = 'base_link'
self._odom = 'odom_link'
self._slip = '0.85'
self._maxAg = '16.0'
self._maxLn = '16.0'
self._motorL = '0'
self._motorR = '1'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._maxSpeed = '1'
self._maxSpeedAngular = '0.5'
self._boost = '2'
self._topic = 'diff/command'
self._pubHz = '20'
self._joystickNum = '0'
self._upAndDownAxis = '1'
self._leftAndRightNum = '0'
self._boostButton = '4'
self._driveButton = '5'
self._upAndDownAxisDir = False
self._leftAndRightDir = False
def __init__(self, frame, data, encoders):
DeviceFrame.__init__(self, CLOSE_LOP_ONE, frame, data)
self.mainPorts = encoders
self._pubHz = '20'
self._name = 'motor'
self._lpfHz = '50'
self._lpfAlpha = '0.7'
self._driverAdd = '128'
self._channel = '1'
self._pidHz = '1000'
self._kp = '3.0'
self._ki = '3.0'
self._kd = '0'
self._limit = '1.0'
self._maxSpeed = '16.0'
self._ppr = '4480'
self._timeout = '1000'
self.mainPorts.setCurrentIndex(0)
self._encoder = str(self.mainPorts.currentText())
self._motorType = '1'
self._dirMotor = False
self._dirEnc = False
self._driverType = '1'
def __init__(self, frame, data, encoders):
DeviceFrame.__init__(self, CLOSE_LOP_ONE, frame, data)
self.mainPorts = encoders
self._pubHz = '20'
self._name = 'motor'
self._lpfHz = '50'
self._lpfAlpha = '0.7'
self._driverAdd = '128'
self._channel = '1'
self._pidHz = '1000'
self._kp = '3.0'
self._ki = '3.0'
self._kd = '0'
self._limit = '1.0'
self._maxSpeed = '16.0'
self._ppr = '4480'
self._timeout = '1000'
self.mainPorts.setCurrentIndex(0)
self._encoder = str(self.mainPorts.currentText())
self._motorType = '1'
self._dirMotor = False
self._dirEnc = False
self._driverType = '1'
def __init__(self, frame, data):
DeviceFrame.__init__(self, PPM, frame, data)
self._pubHz = '20'
self._name = 'RiC_PPM'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._filePath = ''
self._filePathTmp = ''
self._pkg = 'ric_description'
self._pkgTmp = self._pkg
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._value = 'None'
def __init__(self, frame, data):
DeviceFrame.__init__(self, BATTERY, frame, data)
self._pubHz = '10'
self._voltDivRation = '6'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._name = ''
self._output = 'screen'
self._pkg = ''
self._nodeType = ''
def __init__(self, frame, data):
DeviceFrame.__init__(self, PPM, frame, data)
self._pubHz = '20'
self._name = 'RiC_PPM'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._value = 'None'
def __init__(self, frame, data):
DeviceFrame.__init__(self, GPS, frame, data)
self._pubHz = "10"
self._name = "RiC_GPS"
self._frameId = "GPS_Frame"
self._baudRate = "9600"
def __init__(self, frame, data, relayPorts):
DeviceFrame.__init__(self, RELAY, frame, data)
self.mainPorts = relayPorts
self._name = 'RiC_Relay'
self._port = self._port = str(self.mainPorts.currentText())
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._diffTopic = "/diff"
self._ppmTopic = "/RiC_PPM"
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._cmd = 'cmd_val'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._pkg = ''
self._file = ''
self._name = ''
def __init__(self, frame, data):
DeviceFrame.__init__(self, EMERGENCY_SWITCH, frame, data)
self._pin_to_listen = '27'
self._state = '1'
self._name = 'emergency_switch'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._filePath = ''
self._filePathTmp = ''
self._pkg = 'ric_description'
self._pkgTmp = self._pkg
def __init__(self, frame, data=None):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._name = 'Hokuyo_Node'
self._output = 'screen'
self._port = '/dev/Hokuyo'
self._frameId = 'Hokuyo_Frame'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._name = ''
self._output = 'screen'
self._pkg = ''
self._nodeType = ''
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._pkg = ''
self._file = ''
self._name = ''
def __init__(self, frame, data=None):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._name = 'Hokuyo_Node'
self._output = 'screen'
self._port = '/dev/Hokuyo'
self._frameId = 'Hokuyo_Frame'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EX_DEV, frame, data)
self._diffTopic = '/diff'
self._ppmTopic = '/RiC_PPM'
def __init__(self, frame, data):
DeviceFrame.__init__(self, EMERGENCY_SWITCH, frame, data)
self._pin_to_listen = '27'
self._state = '1'
self._name = 'emergency_switch'
def __init__(self, frame, data):
DeviceFrame.__init__(self, GPS, frame, data)
self._pubHz = '10'
self._name = 'RiC_GPS'
self._frameId = 'GPS_Frame'
self._baudRate = '9600'
