class Executer():
def __init__(self, queue):
self.receiver = Queue()
self.sender = Queue()
self.mediator = Mediator(self.receiver, self.sender)
self.mediator.start()
rospy.init_node('executer', anonymous=False)
rospy.on_shutdown(self.shutdown)
self.rate = rospy.Rate(5)
self.commander = rospy.Publisher('cmd_vel_mux/input/navi',
Twist,
queue_size=10)
self.bumper = rospy.Subscriber('mobile_base/events/bumper',
BumperEvent, self.processBump)
def processBump(self, data):
if (data.state == BumperEvent.PRESSED):
package = {
'type': 'bumper',
}
if data.bumper == 1:
package['value'] = 'front'
elif data.bumper == 0:
package['value'] = 'left'
elif data.bumper == 2:
package['value'] = 'right'
sender.put(package)
else:
rospy.loginfo("Bumper Event")
rospy.loginfo(data.bumper)
def run(self):
twist = Twist()
while not rospy.is_shutdown():
if not self.receiver.empty():
command = self.receiver.get()
twist = Twist()
if command['type'] == 'straight':
twist.linear.x = command['value']
if command['type'] == 'turn':
twist.linear.x = 0
twist.angular.z = radians(command['value'])
print(command)
self.commander.publish(twist)
self.rate.sleep()
def shutdown(self):
# stop turtlebot
rospy.loginfo("Stopping")
self.commander.publish(Twist())
rospy.sleep(1)
from mediator import Mediator
from multiprocessing import Queue
receive = Queue()
send = Queue()
medi = Mediator(receive, send)
medi.start()
while True:
phrase = input()
send.put({'text': phrase})
