def run(self):
"""Run the thread."""
frequency = self.axis._state_publishing_frequency
rate = rospy.Rate(frequency)
state_publisher = DiagnosedPublisher(
rospy.Publisher("camera/ptz", PTZ, queue_size=100),
self._diagnostic_updater, FrequencyStatusParam({'min': frequency, 'max': frequency}, tolerance=0.2), TimeStampStatusParam()
)
joint_states_publisher = DiagnosedPublisher(
rospy.Publisher("camera/joint_states", JointState, queue_size=100),
self._diagnostic_updater, FrequencyStatusParam({'min': frequency, 'max': frequency}, tolerance=0.2), TimeStampStatusParam()
)
parameter_updates_publisher = rospy.Publisher("axis_ptz/parameter_updates", Config, queue_size=100)
while not rospy.is_shutdown():
# publish position forever
try:
# get camera position from API
camera_position = self.api.get_camera_position() # we use deprecated param values
message_time = rospy.Time.now()
# Create and publish the PTZ message
message = self._create_camera_position_message(camera_position, message_time)
state_publisher.publish(message)
# Create and publish JointState
joint_states_message = self._create_camera_joint_states_message(camera_position, message_time)
joint_states_publisher.publish(joint_states_message)
# Publish the parameter updates (because of backwards compatibility)
parameter_updates_message = self._create_parameter_updates_message(camera_position)
parameter_updates_publisher.publish(parameter_updates_message)
# set the parameters (because of backwards compatibility)
rospy.set_param("axis_ptz/pan", camera_position['pan'])
rospy.set_param("axis_ptz/tilt", camera_position['tilt'])
rospy.set_param("axis_ptz/zoom", camera_position['zoom'])
# Create and publish the deprecated Axis message
self.cameraPosition = camera_position # backwards compatibility
self.publishCameraState() # backwards compatibility
except (IOError, ValueError, RuntimeError) as e:
rospy.logwarn("Could not determine current camera position. Waiting 1 s. Cause: %s" % repr(e.args))
rospy.sleep(1)
self._diagnostic_updater.update()
try:
rate.sleep()
except rospy.ROSTimeMovedBackwardsException:
rospy.logwarn("Detected jump back in time.")
def run(self):
"""Run the thread."""
frequency = self.axis._state_publishing_frequency
rate = rospy.Rate(frequency)
state_publisher = DiagnosedPublisher(
rospy.Publisher("camera/ptz", PTZ, queue_size=100),
self._diagnostic_updater,
FrequencyStatusParam({
'min': frequency,
'max': frequency
},
tolerance=0.2), TimeStampStatusParam())
joint_states_publisher = DiagnosedPublisher(
rospy.Publisher("camera/joint_states", JointState, queue_size=100),
self._diagnostic_updater,
FrequencyStatusParam({
'min': frequency,
'max': frequency
},
tolerance=0.2), TimeStampStatusParam())
parameter_updates_publisher = rospy.Publisher(
"axis_ptz/parameter_updates", Config, queue_size=100)
while not rospy.is_shutdown():
# publish position forever
try:
# get camera position from API
camera_position = self.api.get_camera_position(
) # we use deprecated param values
message_time = rospy.Time.now()
# Create and publish the PTZ message
message = self._create_camera_position_message(
camera_position, message_time)
state_publisher.publish(message)
# Create and publish JointState
joint_states_message = self._create_camera_joint_states_message(
camera_position, message_time)
joint_states_publisher.publish(joint_states_message)
# Publish the parameter updates (because of backwards compatibility)
parameter_updates_message = self._create_parameter_updates_message(
camera_position)
parameter_updates_publisher.publish(parameter_updates_message)
# set the parameters (because of backwards compatibility)
rospy.set_param("axis_ptz/pan", camera_position['pan'])
rospy.set_param("axis_ptz/tilt", camera_position['tilt'])
rospy.set_param("axis_ptz/zoom", camera_position['zoom'])
# Create and publish the deprecated Axis message
self.cameraPosition = camera_position # backwards compatibility
self.publishCameraState() # backwards compatibility
except (IOError, ValueError, RuntimeError) as e:
rospy.logwarn(
"Could not determine current camera position. Waiting 1 s. Cause: %s"
% repr(e.args))
rospy.sleep(1)
self._diagnostic_updater.update()
try:
rate.sleep()
except rospy.ROSTimeMovedBackwardsException:
rospy.logwarn("Detected jump back in time.")
def run(self, stat):
if self._axis._streaming_thread is None or self._axis._streaming_thread.is_paused():
stat.summary(DiagnosticStatusWrapper.OK, "Video not subscribed")
else:
stat = DiagnosedPublisher.run(self, stat)
return stat
def __init__(self, axis, pub, diag, freq, stamp):
DiagnosedPublisher.__init__(self, pub, diag, freq, stamp)
self._axis = axis
