def callback(self, config, level): #self.speedControl = config.speed_control # create temporary message and fill with data from dynamic reconfigure temp_msg = Axis() temp_msg.pan = config.pan temp_msg.tilt = config.tilt temp_msg.zoom = config.zoom temp_msg.focus = config.focus temp_msg.brightness = config.brightness temp_msg.autofocus = config.autofocus # check sanity and apply values self.cmd(temp_msg) # read sanitized values and update GUI config.pan = self.msg.pan config.tilt = self.msg.tilt config.zoom = self.msg.zoom config.focus = self.msg.focus config.brightness = self.msg.brightness config.autofocus = self.msg.autofocus # update GUI with sanitized values return config
def callback(self, config, level): """Deprecated.""" #self.speedControl = config.speed_control if self._executing_reconfigure or (hasattr(self, '_camera_controller') and (self._camera_controller._executing_parameter_update or self._camera_controller._executing_reconfigure)): return config with self._reconfigure_mutex: self._executing_reconfigure = True # create temporary message and fill with data from dynamic reconfigure command = Axis() command.pan = config.pan command.tilt = config.tilt command.zoom = config.zoom command.focus = config.focus command.brightness = config.brightness command.autofocus = config.autofocus # check sanity and apply values self.cmd(command) # read sanitized values and update GUI config.pan = command.pan config.tilt = command.tilt config.zoom = command.zoom config.focus = self._camera_controller._focus config.brightness = self._camera_controller._brightness config.autofocus = self._camera_controller._autofocus self._executing_reconfigure = False # update GUI with sanitized values return config
def dynamicReconfigCallback(self, config, level): #self.speedControl = config.speed_control # create temporary message and fill with data from dynamic reconfigure temp_msg = Axis() temp_msg.pan = config.pan temp_msg.tilt = config.tilt temp_msg.zoom = config.zoom temp_msg.focus = config.focus temp_msg.brightness = config.brightness temp_msg.autofocus = config.autofocus # check sanity and apply values self.cmdCallback(temp_msg) # read sanitized values and update GUI config.pan = self.msg.pan config.tilt = self.msg.tilt config.zoom = self.msg.zoom config.focus = self.msg.focus config.brightness = self.msg.brightness config.autofocus = self.msg.autofocus # update GUI with sanitized values return config
def ptz(): global image_1 #rospy.init_node('axis_ptz_random_move') # self.pub = rospy.Publisher('/cmd', Axis) pub = rospy.Publisher('/cmd', Axis) pub1 = rospy.Publisher('/chatter', Image) rospy.init_node('ptzcmd', anonymous=True) bridge=CvBridge() Message=Axis() sub=rospy.Subscriber('/image_raw/compressed', CompressedImage,callback,queue_size=1) r = rospy.Rate(40) while not rospy.is_shutdown(): pan1=float(raw_input("Enter pan:")) tilt1=float(raw_input("Enter tilt:")) zoom1=float(raw_input("Enter zoom:")) brightness1=float(raw_input("Enter brightness:")) #auto=True Message.pan=pan1 Message.tilt=tilt1 Message.zoom=zoom1 Message.brightness=brightness1 #Message.autofocus=auto pub.publish(Message) r.sleep()