def talker():
pub = rospy.Publisher('/oculus2wd/base_command', drive)
rospy.init_node('drive_node')
while not rospy.is_shutdown():
pub.publish(drive(ord('b'), 10, 1))
print 'published'
rospy.sleep(1.0)
def do_release_cam(self):
'Release cam'
self.cmdpub.publish(drive(ord('w'), 0, 1))
def do_setcam(self):
'Set cam angle [55-80]'
pos = 80 - self.campos * (80-55) / 100.
self.cmdpub.publish(drive(ord('v'), pos, 1))
def do_right(self):
'Step right'
self.cmdpub.publish(drive(ord('r'), 150, 1))
def do_left(self):
'Step left'
self.cmdpub.publish(drive(ord('l'), 150, 1))
def do_stop(self):
'Stop motors'
self.cmdpub.publish(drive(ord('s'), 0, 1))
def do_back(self):
'Back (0-255)'
self.cmdpub.publish(drive(ord('b'), 255, 1))
def do_forward(self):
'Forward (0-255)'
self.cmdpub.publish(drive(ord('f'), 255, 1))
