import numpy as np
import rospy
from superros.logger import Logger
from rocup.param.global_parameters import Parameters
from superros.comm import RosNode
from sensor_msgs.msg import JointState
def command_callback(msg):
global joints
joints = msg.position
if __name__ == '__main__':
robot_name = Parameters.get("BONMET_NAME")
node = RosNode('joint_command_sequencer'.format(robot_name))
node_rate = Parameters.get(obj=robot_name, param="NODE_FREQUENCY")
node.setupParameter("hz", node_rate)
node.createSubscriber("/bonmetc60/joint_command", JointState, command_callback)
pub = node.createPublisher("/bonmetc60/joint_command_seq", JointState)
joints = [0, 0, 0, 0, 0, 0]
joints_msg = JointState()
while node.isActive():
joints_msg.position = joints
pub.publish(joints_msg)
node.tick()
from std_msgs.msg import Header, Float64, Float32, Float64MultiArray
import superros.transformations as transformations
from superros.logger import Logger
from superros.comm import RosNode
from rocup.sensors.sensor_manager import SensorManager
def tactile_callback(msg):
global sensor
sensor.update(msg)
if __name__ == '__main__':
node = RosNode("tactile_supervisor_node")
node.setupParameter("hz", 250)
node.setHz(node.getParameter("hz"))
sensor_name = "tactile"
sensor = SensorManager(sensor_name)
reset_publisher = node.createPublisher("/tactile_reset", String)
sensor.uploadResetPublisher(reset_publisher)
node.createSubscriber("/tactile", Float64MultiArray, tactile_callback)
try:
while node.isActive():
node.tick()
except rospy.ROSInterruptException:
pass
import math
import time
import PyKDL
import random
from PyKDL import Frame, Vector, Rotation
from sensor_msgs.msg import JointState
from std_msgs.msg import String
from geometry_msgs.msg import Twist
from std_msgs.msg import Header, Float64, Float32, Float64MultiArray
import superros.transformations as transformations
from superros.logger import Logger
from superros.comm import RosNode
from rocup.sensors.sensor_manager import SensorManager
if __name__ == '__main__':
node = RosNode("atift_manager_node")
node.setupParameter("hz", 250)
node.setHz(node.getParameter("hz"))
sensor_name = "atift"
sens = SensorManager(sensor_name)
node.createSubscriber("/atift", Twist, sens.sensor_callback)
try:
while node.isActive():
node.tick()
except rospy.ROSInterruptException:
pass
container_map[self.topic]['value'] = msg
@staticmethod
def createACallback(name):
callback_managers[name] = CallbackManager(name)
return callback_managers[name].callback
for t, msg_type in topic_map.iteritems():
topic = str(t)
container_map[topic] = {'value': None}
data_map[topic] = []
callback_map[topic] = CallbackManager.createACallback(topic)
node.createSubscriber(topic, msg_type, callback_map[topic])
for tf in tf_list:
datatf_map[tf] = []
print("Started")
while node.isActive():
if node.getElapsedTimeInSecs() >= node.getParameter("time_window"):
print("Time Window")
break
try:
found = True
tf_frames = {}
for tf in tf_list:
tf_frame = node.retrieveTransform(
tf, tf_base, -1)
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
import rospy
from superros.comm import RosNode
from std_msgs.msg import String
def topic_collback(msg):
print msg.data
#⬢⬢⬢⬢⬢➤ NODE
node = RosNode("tf_export_test")
node.setupParameter("hz", 30)
node.setHz(node.getParameter("hz"))
topic_pub = node.createPublisher("/topic_1", String)
node.createSubscriber("/topic_2", String, topic_collback)
while node.isActive():
msg = String()
msg.data = "hello world"
topic_pub.publish(msg)
node.tick()
