def process_fish_image(image): """ process the fisheye lens image """ trace_line(image) if CURRENT_STATE == 'intersection': if sign_intersection == 'left': TURTLE.set_speed_by_percentage(0.5) TURTLE.set_angular(TURTLE._angular + 0.2) elif sign_intersection == 'right': TURTLE.set_speed_by_percentage(0.5) TURTLE.set_angular(TURTLE._angular - 0.2) elif CURRENT_STATE == 'stop_sign': if left_detected > right_detected : TURTLE.set_speed_by_percentage(0.5) TURTLE.set_angular(TURTLE._angular + 0.2) elif right_detected < left_detected : TURTLE.set_speed_by_percentage(0.5) TURTLE.set_angular(TURTLE._angular - 0.2) TURTLE.move()
if __name__ == '__main__': try: RUN_TYPE = 'run_' + sys.argv[1] # NOTE: publisher to stop viewers PUBLISHER_PACKAGE = rospy.Publisher(PATH_GALAPAGOS_STATE, String, queue_size=5) MSG = String() MSG.data = RUN_TYPE PUBLISHER_PACKAGE.publish(MSG) rospy.loginfo("executing: %s" % RUN_TYPE) __import__('%s' % (RUN_TYPE), fromlist=[RUN_TYPE]) rospy.loginfo("Galapagos package started.") while not rospy.is_shutdown(): TURTLE.move() rospy.Rate(5).sleep() #rospy.spin() # ! Deprecated # NOTE: The codes below will never be worked # except rospy.ROSInterruptException: # rospy.loginfo('exception occurred') # rospy.signal_shutdown("bye") # pass except KeyboardInterrupt: print("\r", end='') TURTLE.disable() MSG.data = "view" print(str(PUBLISHER_PACKAGE.publish(MSG)))
def gogo(): print("running") TURTLE.set_speed_by_percentage(0.5) TURTLE.set_angular(0) TURTLE.move()