def __init__(self):
self.chairbot_number = chairbot_number()
self.teleop_node_name = 'teleop' + self.chairbot_number
self.chairmovement_topic_name = 'chairMovement' + self.chairbot_number
self.cbon_topic_name = 'cbon' + self.chairbot_number
rospy.init_node(self.teleop_node_name)
self.port = rospy.get_param('~port1 ', "/dev/ttyACM0")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = Botvac(self.port)
rospy.loginfo("Object is successfully init")
rospy.Subscriber(self.chairmovement_topic_name, Twist, self.twist_handler, queue_size=10)
rospy.Subscriber(self.cbon_topic_name, Int8, self.cbon, queue_size=10)
self.latest_twist = Twist() # crete an empty twist packet
self.SPEED = 150
self.DIST = 20
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
self.status = False
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
self.lds = rospy.get_param('~lds', True)
rospy.loginfo("Using port: %s" % self.port)
self.robot = Botvac(self.port, self.lds)
rospy.Subscriber("cmd_dist", Movement, self.cmdMovementCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=1)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=1)
self.buttonPub = rospy.Publisher('button', Button, queue_size=1)
self.sensorPub = rospy.Publisher('sensor', Sensor, queue_size=1)
self.accelerationPub = rospy.Publisher('acceleration',
Vector3Stamped,
queue_size=1)
self.wallPub = rospy.Publisher('wall', Range, queue_size=1)
self.drop_leftPub = rospy.Publisher('drop_left', Range, queue_size=1)
self.drop_rightPub = rospy.Publisher('drop_right', Range, queue_size=1)
self.magneticPub = rospy.Publisher('magnetic', Sensor, queue_size=1)
self.odomBroadcaster = TransformBroadcaster()
rospy.Service('set_info_led', SetLed, self.setInfoLed)
rospy.Service('play_sound', PlaySound, self.playSound)
rospy.Service('set_lds', SetBool, self.setLDS)
self.cmd_vel = 0
self.cmd_dist = [0, 0]
self.old_dist = self.cmd_dist
self.encoders = [0, 0]
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop04', anonymous=True)
self.port = rospy.get_param('~port1 ', "/dev/ttyACM1")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy04", Joy, self.joy_handler, queue_size=10)
rospy.Subscriber("/cbon04", Int8, self.cbon04, queue_size=10)
rospy.Subscriber('/touches04', Int8, self.touch_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 0
self.DIST = 20
self.SPEEDSET = 0
self.SPEEDRAMP = 0
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
self.touch_number = -1
self.touch0 = False
self.touch1 = False
self.touch2 = False
self.touch3 = False
self.touch4 = False
self.touch5 = False
self.touch6 = False
self.touch7 = False
self.touch8 = False
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.CMD_RATE = 2
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
rospy.loginfo("Using port: %s" % self.port)
self.odom_topic = rospy.get_param('~odom_topic', "odom")
self.dist_topic = rospy.get_param('~dist_topic', "dist")
self.cmd_vel_topic = rospy.get_param('~cmd_vel_topic', "cmd_vel")
self.base_frame = rospy.get_param('~base_frame', "base_link")
self.odom_frame = rospy.get_param('~odom_frame', "odom")
self.cmd_angle_instead_rotvel = rospy.get_param(
'~cmd_angle_instead_rotvel', False)
self.wheelbase = rospy.get_param('~wheelbase', 1)
self.robot = Botvac(self.port)
rospy.Subscriber(self.cmd_vel_topic, Twist, self.cmdVelCb)
# self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher(self.odom_topic,
Odometry,
queue_size=10)
self.distPub = rospy.Publisher(self.dist_topic,
Vector3Stamped,
queue_size=10)
# self.buttonPub = rospy.Publisher('button', Button, queue_size=10)
# self.sensorPub = rospy.Publisher('sensor', Sensor, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0, 0]
self.old_vel = self.cmd_vel
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/neato")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0, 0]
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop03', anonymous=True)
self.port = rospy.get_param('~port', "/dev/ttyACM0")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy03", Joy, self.joy_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 0
self.DIST = 20
'''
def readCommandsFromNeato():
port = rospy.get_param('~port', "/dev/ttyACM0")
robot = Botvac(port)
doc = ""
commands = robot.getAllCommands()
for c in commands:
com = robot.getCommandDescription(c)
doc += "### " + com.command + "\n\n"
doc += "**Description:** " + com.description + "\n\n"
if len(com.arguments) > 0:
doc += "**Options:** \n\n| Flag | Description |\n|------|-------------|\n"
for arg in com.arguments:
doc += "| " + arg + " | " + com.arguments[arg] + " |\n"
doc += "\n\n"
robot.exit()
return doc
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.CMD_RATE =2
self.port = rospy.get_param('~port', "/dev/ttyACM0")
rospy.loginfo("Using port: %s" % self.port)
self.robot = Botvac(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=10)
#self.buttonPub = rospy.Publisher('button', Button, queue_size=10)
#self.sensorPub = rospy.Publisher('sensor', Sensor, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0, 0]
self.old_vel = self.cmd_vel
