def __init__(self, default_port='/dev/ttyUSB0', default_update_rate=120.0):
"""
@param default_port: default tty port to use for establishing
connection to Eddiebot. This will be overriden by ~port ROS
param if available.
"""
self.default_port = default_port
self.default_update_rate = default_update_rate
self.robot = Eddiebot()
self.sensor_handler = None
self.sensor_state = EddiebotSensorState()
self.req_cmd_vel = None
rospy.init_node('eddiebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = EddiebotDiagnostics()
if self.has_gyro:
self._gyro = EddiebotGyro()
else:
self._gyro = None
dynamic_reconfigure.server.Server(EddieBotConfig, self.reconfigure)
self.last_pan_degree = 96 # Default is facing center
self.last_angle = self.UNDEFINED
self.last_dist = self.UNDEFINED
self.emergency_activated = False
self.last_time = 0
self.cmd_log = open(
'/home/eddie/logs/cmd_log_' + str(int(time.time())), 'w')
self.cmd_log.write(
'cur_time,msg.linear.x,msg.angular.z,linear_speed_ticks,angular_speed_ticks,left_spd,right_spd\n'
)
