import nrtlib import os nrtlib.loadModule(logicalpath="/Robotics/Drivers/HermesModule", bbnick="local", instancename='CoolHermes', parameters={'serialdev': '/dev/rfcomm0'}, subscribertopicfilters={'VelocityCommand': 'HermesVelocity'}, position=(200, 0)) nrtlib.loadModule(logicalpath="/Robotics/Utils/iNRTJoystickModule", bbnick="local", instancename='MyiPhone', postertopics={'VelocityCommand': 'HermesVelocity'}, position=(-200, 200)) #nrtlib.loadModule( # logicalpath="/Robotics/Utils/ThreeSixtyControllerModule", # bbnick="local", # instancename = 'MySixAxis', # parameters = {'joystickdev': '/dev/input/js1'}, # postertopics = {'VelocityCommand' : 'HermesVelocity'}, # position = (-200, 0))
#!/usr/bin/env python import nrtlib nrtlib.loadModule( logicalpath = '/Robotics/Utils/TransformManagerModule', bbnick = 'hermes', parameters = { 'maxCacheSize' : '1000', 'maxCacheTime' : '30', }, subscribertopicfilters = { 'TransformUpdatePort' : 'Auto000001|Auto000002', 'TransformLookupPort' : 'Auto000003', }, position = (978, -243), ) nrtlib.loadModule( logicalpath = '/Robotics/Utils/TransformPosterModule', bbnick = 'hermes', parameters = { 'from' : 'world', 'rate' : '0', 'to' : 'robot', 'transform' : '0,0,0,0,0,0', }, postertopics = { 'TransformUpdate' : 'Auto000002', }, position = (230, -430), )
#!/usr/bin/env python import nrtlib nrtlib.loadModule( logicalpath = '/Robotics/Utils/TransformPosterModule', bbnick = 'hermes', instancename = 'Robot2KinectTransformer', parameters = { 'from' : 'robot', 'rate' : '1', 'to' : 'kinect', 'transform' : '-0.2,0,.32,0,1.67,1.6', }, postertopics = { 'TransformUpdate' : 'Robot2KinectTransform', }, position = (70, 815), ) nrtlib.loadModule( logicalpath = '/Robotics/PointCloud/PointCloud2OccupancyModule', bbnick = 'hermes', parameters = { 'lowerthreshold' : '0.20000000000000001', 'mapdims' : '8x8', 'pixelspermeter' : '10', 'shadows' : '128', 'upperthreshold' : '3', }, subscribertopicfilters = { 'PointCloudInput' : 'WorldPointCloud',
import nrtlib import os nrtlib.loadModule( logicalpath="/Robotics/Drivers/HermesModule", bbnick="local", instancename = 'CoolHermes', parameters = {'serialdev' : '/dev/rfcomm0'}, subscribertopicfilters = {'VelocityCommand' : 'HermesVelocity'}, position = (200, 0)) nrtlib.loadModule( logicalpath="/Robotics/Utils/iNRTJoystickModule", bbnick="local", instancename = 'MyiPhone', postertopics = {'VelocityCommand' : 'HermesVelocity'}, position = (-200, 200)) #nrtlib.loadModule( # logicalpath="/Robotics/Utils/ThreeSixtyControllerModule", # bbnick="local", # instancename = 'MySixAxis', # parameters = {'joystickdev': '/dev/input/js1'}, # postertopics = {'VelocityCommand' : 'HermesVelocity'}, # position = (-200, 0))
#!/usr/bin/env python import nrtlib nrtlib.loadModule( logicalpath='/Robotics/Drivers/HermesModule', bbnick='hermes', parameters={ 'baseframe': 'world', 'odomframe': 'odometry', 'serialdev': '/dev/ttyUSB0', }, subscribertopicfilters={ 'VelocityCommand': 'Auto000000', }, postertopics={ 'OdometryUpdatePort': '', 'CompassZ': '', 'GyroZ': '', }, position=(52, -95), ) nrtlib.loadModule( logicalpath='/Robotics/Utils/iNRTJoystickModule', bbnick='hermes', parameters={ 'maxangular': '1', 'maxlinear': '1', 'port': '61557', 'webview': 'http://google.com/', },
#!/usr/bin/env python import nrtlib nrtlib.loadModule( logicalpath='/Robotics/Utils/TransformPosterModule', bbnick='hermes', instancename='Robot2KinectTransformer', parameters={ 'from': 'robot', 'rate': '1', 'to': 'kinect', 'transform': '-0.2,0,.32,0,1.67,1.6', }, postertopics={ 'TransformUpdate': 'Robot2KinectTransform', }, position=(70, 815), ) nrtlib.loadModule( logicalpath='/Robotics/PointCloud/PointCloud2OccupancyModule', bbnick='hermes', parameters={ 'lowerthreshold': '0.20000000000000001', 'mapdims': '8x8', 'pixelspermeter': '10', 'shadows': '128', 'upperthreshold': '3', }, subscribertopicfilters={ 'PointCloudInput': 'WorldPointCloud',
#!/usr/bin/env python import nrtlib nrtlib.loadModule( logicalpath = '/Robotics/Drivers/HermesModule', bbnick = 'hermes', parameters = { 'baseframe' : 'world', 'odomframe' : 'odometry', 'serialdev' : '/dev/ttyUSB0', }, subscribertopicfilters = { 'VelocityCommand' : 'Auto000000', }, postertopics = { 'OdometryUpdatePort' : '', 'CompassZ' : '', 'GyroZ' : '', }, position = (52, -95), ) nrtlib.loadModule( logicalpath = '/Robotics/Utils/iNRTJoystickModule', bbnick = 'hermes', parameters = { 'maxangular' : '1', 'maxlinear' : '1', 'port' : '61557', 'webview' : 'http://google.com/', },