def __init__(self):
self.m = Myo(NNClassifier())
self.connect(self.m)
if self.m.device_name == UPPER_ARM_DEVICE_NAME:
self.identifier = 'u'
else:
self.identifier = 'l'
#might be necessary for some classification?
#traning_data_directory = rospy.get_param('~training_data_dir', None)
self.pub_imu = rospy.Publisher('/myo/' + self.identifier + '/imu',
IMUData,
queue_size=10)
self.pub_emg = rospy.Publisher('/myo/' + self.identifier + '/emg',
EMGData,
queue_size=10)
self.pub_pose = rospy.Publisher('/myo/' + self.identifier + '/gesture',
Gesture,
queue_size=10)
self.pub_myo_arm = rospy.Publisher('/myo/' + self.identifier + '/arm',
MyoArm,
queue_size=10,
latch=True)
self.pub_ort = rospy.Publisher('/myo/' + self.identifier + '/ort',
Quaternion,
queue_size=10)
self.downsampler = 0
self.baseRot = None
self.count = 0
def __init__(self):
rospy.init_node('myo_node', anonymous=True)
traning_data_directory = rospy.get_param('~training_data_dir', None)
self.pub_imu = rospy.Publisher('/myo/imu', IMUData, queue_size=10)
self.pub_emg = rospy.Publisher('/myo/emg', EMGData, queue_size=10)
self.pub_pose = rospy.Publisher('/myo/gesture', Gesture, queue_size=10)
self.pub_myo_arm = rospy.Publisher('/myo/arm',
MyoArm,
queue_size=10,
latch=True)
self.pub_ort = rospy.Publisher('/myo/ort', Quaternion, queue_size=10)
os.chdir(rospkg.RosPack().get_path('myo_raw') +
'/training_data' if traning_data_directory ==
None else traning_data_directory)
self.m = Myo(NNClassifier())
