def talker():
pub = rospy.Publisher('/goldorak/' + node_name + '/setpoint',
MotorControlSetpoint,
queue_size=10)
rospy.init_node('setpoint_sender', anonymous=True)
rate = rospy.Rate(frequency)
i = 0
msg = MotorControlSetpoint()
while not rospy.is_shutdown():
msg.node_name = node_name
msg.mode = MotorControlSetpoint.MODE_CONTROL_TORQUE
if i > frequency:
msg.position = 0
msg.velocity = 0
msg.torque = 20
if i > 2 * frequency:
i = 0
msg.position = 0
msg.velocity = 0
msg.torque = -20
i += 1
pub.publish(msg)
rate.sleep()
def move_speed(speed, duration, rate=10):
global right_wheel_pub, left_wheel_pub, right_wheel_radius, left_wheel_radius, right_wheel_direction, left_wheel_direction, external_to_internal_wheelbase_encoder_direction
right_speed = external_to_internal_wheelbase_encoder_direction * right_wheel_direction * speed / right_wheel_radius
left_speed = external_to_internal_wheelbase_encoder_direction * left_wheel_direction * speed / left_wheel_radius
right_wheel_msg = MotorControlSetpoint()
left_wheel_msg = MotorControlSetpoint()
right_wheel_msg.node_name = 'right_wheel'
right_wheel_msg.mode = MotorControlSetpoint.MODE_CONTROL_VELOCITY
left_wheel_msg.node_name = 'left_wheel'
left_wheel_msg.mode = MotorControlSetpoint.MODE_CONTROL_VELOCITY
rate_ = rospy.Rate(rate)
for i in range(int(duration * rate)):
current_time = rospy.get_rostime()
right_wheel_msg.timestamp = current_time
right_wheel_msg.velocity = right_speed
left_wheel_msg.timestamp = current_time
left_wheel_msg.velocity = left_speed
right_wheel_pub.publish(right_wheel_msg)
left_wheel_pub.publish(left_wheel_msg)
rate_.sleep()
def talker():
pub = rospy.Publisher('/goldorak/' + node_name + '/setpoint',
MotorControlSetpoint,
queue_size=10)
rospy.init_node('setpoint_sender', anonymous=True)
rate = rospy.Rate(frequency)
i = 0
msg = MotorControlSetpoint()
while not rospy.is_shutdown():
msg.node_name = node_name
msg.mode = MotorControlSetpoint.MODE_CONTROL_TORQUE
if i > frequency:
msg.position = 0
msg.velocity = 0
msg.torque = 20
if i > 2 * frequency:
i = 0
msg.position = 0
msg.velocity = 0
msg.torque = -20
i += 1
pub.publish(msg)
rate.sleep()
def move_speed(speed, duration, rate=10):
global right_wheel_pub, left_wheel_pub, right_wheel_radius, left_wheel_radius, right_wheel_direction, left_wheel_direction, external_to_internal_wheelbase_encoder_direction
right_speed = external_to_internal_wheelbase_encoder_direction * right_wheel_direction * speed / right_wheel_radius
left_speed = external_to_internal_wheelbase_encoder_direction * left_wheel_direction * speed / left_wheel_radius
right_wheel_msg = MotorControlSetpoint()
left_wheel_msg = MotorControlSetpoint()
right_wheel_msg.node_name = 'right_wheel'
right_wheel_msg.mode = MotorControlSetpoint.MODE_CONTROL_VELOCITY
left_wheel_msg.node_name = 'left_wheel'
left_wheel_msg.mode = MotorControlSetpoint.MODE_CONTROL_VELOCITY
rate_ = rospy.Rate(rate)
for i in range(int(duration * rate)):
current_time = rospy.get_rostime()
right_wheel_msg.timestamp = current_time
right_wheel_msg.velocity = right_speed
left_wheel_msg.timestamp = current_time
left_wheel_msg.velocity = left_speed
right_wheel_pub.publish(right_wheel_msg)
left_wheel_pub.publish(left_wheel_msg)
rate_.sleep()
def talker():
args = parse_arguments()
pub = rospy.Publisher('/goldorak/' + node_name + '/setpoint',
MotorControlSetpoint,
queue_size=10)
rospy.init_node('setpoint_sender', anonymous=True)
rate = rospy.Rate(frequency)
msg = MotorControlSetpoint()
while not rospy.is_shutdown():
msg.node_name = node_name
if args.position:
msg.mode = MotorControlSetpoint.MODE_CONTROL_POSITION
msg.position = args.position
elif args.velocity:
msg.mode = MotorControlSetpoint.MODE_CONTROL_VELOCITY
msg.velocity = args.velocity
elif args.torque:
msg.mode = MotorControlSetpoint.MODE_CONTROL_TORQUE
msg.torque = args.torque
pub.publish(msg)
rate.sleep()
