def __init__(self, params, servoNum, output):
Device.__init__(self, params.getServoName(servoNum), output)
self._servoNum = servoNum
self._pub = Publisher('%s/Position' % self._name, Float32, queue_size=params.getServoPublishHz(servoNum))
Subscriber('%s/command' % self._name, Float32, self.servoCallBack)
self._haveRightToPublish = False
def __init__(self, param, output):
Device.__init__(self, param.getIMUName(), output)
self._frameId = param.getIMUFrameId()
self._angle = param.getIMUOrientation()
self._pub = Publisher("%s_AGQ" % self._name, Imu, queue_size=param.getIMUPubHz())
self._pubMag = Publisher("%s_M" % self._name, MagneticField, queue_size=param.getIMUPubHz())
Service("%s_Calibration" % self._name, calibIMU, self.serviceCallBack)
self._haveRightToPublish = False
def __init__(self, param, output):
Device.__init__(self, param.getGpsName(), output)
self._frameId = param.getGpsFrameId()
self._pub = Publisher('%s' % self._name, NavSatFix, queue_size=param.getGpsPubHz())
self._haveRightToPublish = False
self._old_fix = 0
self._wd = int(round(time.time() * 1000))
KeepAliveHandler(self._name, NavSatFix)
def __init__(self, params, servoNum, output):
Device.__init__(self, params.getServoName(servoNum), output)
self._servoNum = servoNum
self._pub = Publisher('%s/Position' % self._name,
Float32,
queue_size=params.getServoPublishHz(servoNum))
Subscriber('%s/command' % self._name, Float32, self.servoCallBack)
#KeepAliveHandler('%s/Position' % self._name, Float32)
self._haveRightToPublish = False
def __init__(self, param, motorL, motorR):
Device.__init__(self, param.getCloseDiffName(), None)
self._maxAng = param.getCloseDiffMaxAng()
self._rWheel = param.getCloseDiffRWheel()
self._width = param.getCloseDiffWidth()
self._maxLin = param.getCloseDiffMaxLin()
self._motorL = motorL
self._motorR = motorR
Subscriber('%s/command' % self._name, Twist, self.diffCallback)
def __init__(self, devId, param, output):
Device.__init__(self, param.getURFName(devId), output)
self._urfType = param.getURFType(devId)
self._frameId = param.getURFFrameId(devId)
self._pub = Publisher('%s' % self._name, Range, queue_size=param.getURFPubHz(devId))
#KeepAliveHandler(self._name, Range)
self._devId = devId
self._haveRightToPublish = False
def __init__(self, param, motorL, motorR):
Device.__init__(self, param.getCloseDiffName(), None)
self._maxAng = param.getCloseDiffMaxAng()
self._rWheel = param.getCloseDiffRWheel()
self._width = param.getCloseDiffWidth()
self._maxLin = param.getCloseDiffMaxLin()
self._motorL = motorL
self._motorR = motorR
Subscriber('%s/command' % self._name, Twist, self.diffCallback)
def __init__(self, param, output):
Device.__init__(self, param.getCloseDiffName(), output)
self._baseLink = param.getCloseDiffBaseLink()
self._odom = param.getCloseDiffOdom()
self._maxAng = param.getCloseDiffMaxAng()
self._maxLin = param.getCloseDiffMaxLin()
self._pub = Publisher("%s/odometry" % self._name, Odometry, queue_size=param.getCloseDiffPubHz())
self._broadCase = TransformBroadcaster()
Subscriber('%s/command' % self._name, Twist, self.diffServiceCallback, queue_size=1)
Service('%s/setOdometry' % self._name, set_odom, self.setOdom)
def __init__(self, param, output):
Device.__init__(self, param.getGpsName(), output)
self._frameId = param.getGpsFrameId()
self._pub = Publisher('%s' % self._name,
NavSatFix,
queue_size=param.getGpsPubHz())
self._haveRightToPublish = False
self._old_fix = 0
self._wd = int(round(time.time() * 1000))
KeepAliveHandler(self._name, NavSatFix)
def __init__(self, motorNum ,param,output):
Device.__init__(self, param.getCloseLoopMotorName(motorNum), output)
self._motorId = motorNum
self._kp = param.getCloseLoopMotorKp(motorNum)
self._ki = param.getCloseLoopMotorKi(motorNum)
self._kd = param.getCloseLoopMotorKd(motorNum)
self._pub = Publisher('%s/feedback' % self._name, Motor, queue_size=param.getCloseLoopMotorPubHz(motorNum))
Subscriber('%s/command' % self._name, Float32, self.MotorCallback, queue_size=1)
self._haveRightToPublish = False
def __init__(self, devId, param, output):
Device.__init__(self, param.getURFName(devId), output)
self._urfType = param.getURFType(devId)
self._frameId = param.getURFFrameId(devId)
self._pub = Publisher('%s' % self._name,
Range,
queue_size=param.getURFPubHz(devId))
#KeepAliveHandler(self._name, Range)
self._devId = devId
self._haveRightToPublish = False
def __init__(self, param, output):
"""
:param param:
:type param: RiCParam
:param output:
:return:
"""
Device.__init__(self, param.getBatteryName(), output)
self._pub = Publisher('%s' % self._name, Battery, queue_size=param.getBatteryPubHz())
self._haveRightToPublish = False
self._min = param.getBatteryMin()
self._max = param.getBatteryMax()
def __init__(self, param, output):
"""
:param param:
:type param: RiCParam
:param output:
:return:
"""
Device.__init__(self, param.getBatteryName(), output)
self._pub = Publisher('%s' % self._name,
Battery,
queue_size=param.getBatteryPubHz())
self._haveRightToPublish = False
self._min = param.getBatteryMin()
self._max = param.getBatteryMax()
def __init__(self, param, output):
Device.__init__(self, param.getIMUName(), output)
self._frameId = param.getIMUFrameId()
self._angle = param.getIMUOrientation()
self._pub = Publisher('%s_AGQ' % self._name, Imu, queue_size=param.getIMUPubHz())
self._pubMag = Publisher('%s_M' % self._name, MagneticField, queue_size=param.getIMUPubHz())
self._pubCalib = Publisher('/imu_calib_publisher', imuCalib, queue_size=param.getIMUPubHz())
Service('/imu_Calibration', calibIMU, self.serviceCallBack)
self._haveRightToPublish = False
self._calib = False
self._xMax = 0.0
self._yMax = 0.0
self._zMax = 0.0
self._xMin = 0.0
self._yMin = 0.0
self._zMin = 0.0
def __init__(self, motorNum, param, output):
Device.__init__(self, param.getCloseLoopMotorName(motorNum), output)
self._motorId = motorNum
self._kp = param.getCloseLoopMotorKp(motorNum)
self._ki = param.getCloseLoopMotorKi(motorNum)
self._kd = param.getCloseLoopMotorKd(motorNum)
self._pub = Publisher(
'%s/feedback' % self._name,
Motor,
queue_size=param.getCloseLoopMotorPubHz(motorNum))
Subscriber('%s/command' % self._name,
Float32,
self.MotorCallback,
queue_size=1)
self._haveRightToPublish = False
def __init__(self, param, output):
Device.__init__(self, param.getCloseDiffName(), output)
self._baseLink = param.getCloseDiffBaseLink()
self._odom = param.getCloseDiffOdom()
self._maxAng = param.getCloseDiffMaxAng()
self._maxLin = param.getCloseDiffMaxLin()
self._pub = Publisher("%s/odometry" % self._name,
Odometry,
queue_size=param.getCloseDiffPubHz())
self._broadCase = TransformBroadcaster()
Subscriber('%s/command' % self._name,
Twist,
self.diffServiceCallback,
queue_size=1)
Service('%s/setOdometry' % self._name, set_odom, self.setOdom)
self._haveRightToPublish = False
self._prevOdom = None
self._firstTimePub = True
def __init__(self, param, output):
Device.__init__(self, param.getIMUName(), output)
self._frameId = param.getIMUFrameId()
self._angle = param.getIMUOrientation()
self._pub = Publisher('%s_AGQ' % self._name,
Imu,
queue_size=param.getIMUPubHz())
self._pubMag = Publisher('%s_M' % self._name,
MagneticField,
queue_size=param.getIMUPubHz())
self._pubCalib = Publisher('/imu_calib_publisher',
imuCalib,
queue_size=param.getIMUPubHz())
Service('/imu_Calibration', calibIMU, self.serviceCallBack)
self._haveRightToPublish = False
self._calib = False
self._xMax = 0.0
self._yMax = 0.0
self._zMax = 0.0
self._xMin = 0.0
self._yMin = 0.0
self._zMin = 0.0
def __init__(self, devId,param, output):
Device.__init__(self, param.getSwitchName(devId), output)
self._pub = Publisher('%s' % self._name, Bool, queue_size=param.getSwitchPubHz(devId))
self._switchId = devId
self._haveRightToPublish = False
def __init__(self, param, output):
Device.__init__(self, param.getPPMName(), output)
self._pub = Publisher('%s' % self._name, PPM, queue_size=param.getPPMPubHz())
self._haveRightToPublish = False
def __init__(self, param):
Device.__init__(self, param.getPPMName(), None)
self._pub = Publisher('%s' % self._name, PPM, queue_size=param.getPPMPubHz())
def __init__(self, param):
Device.__init__(self, param.getBatteryName(), None)
self._pub = Publisher('%s' % self._name, Float32, queue_size=param.getBatteryPubHz())
def __init__(self, motorId, param, output):
Device.__init__(self, param.getOpenLoopName(motorId), output)
self._id = motorId
self._direction = param.getOpenLoopDirection(motorId)
Subscriber('%s/command' % self._name, Float32, self.openLoopCallback)
def __init__(self, devId, param):
Device.__init__(self, param.getURFName(devId), None)
self._urfType = param.getURFType(devId)
self._frameId = param.getURFFrameId(devId)
self._pub = Publisher('%s' % self._name, Range, queue_size=param.getURFPubHz(devId))
def __init__(self, param, output):
Device.__init__(self, param.getGpsName(), output)
self._frameId = param.getGpsFrameId()
self._pub = Publisher('%s' % self._name, NavSatFix, queue_size=param.getGpsPubHz())
self._haveRightToPublish = False
def __init__(self,param ,output):
Device.__init__(self, param.getIMUName(), output)
self._frameId = param.getIMUFrameId()
self._pub = Publisher('%s_AGQ' % self._name, Imu, queue_size=param.getIMUPubHz())
self._pubMag = Publisher('%s_M' % self._name, MagneticField, queue_size=param.getIMUPubHz())
def __init__(self, param, output):
Device.__init__(self, param.getPPMName(), output)
self._pub = Publisher('%s' % self._name, PPM, queue_size=param.getPPMPubHz())
self._haveRightToPublish = False
def __init__(self, param, output):
Device.__init__(self, param.getBatteryName(), output)
self._pub = Publisher('%s' % self._name, Float32, queue_size=param.getBatteryPubHz())
self._haveRightToPublish = False
def __init__(self, motorId,param, output):
Device.__init__(self, param.getOpenLoopName(motorId), output)
self._id = motorId
self._direction = param.getOpenLoopDirection(motorId)
Subscriber('%s/command' % self._name, Float32, self.openLoopCallback)
def __init__(self, motorNum ,param,output):
Device.__init__(self, param.getCloseLoopMotorName(motorNum), output)
self._motorId = motorNum
self._pub = Publisher('%s/feedback' % self._name, Motor, queue_size=param.getCloseLoopMotorPubHz(motorNum))
Subscriber('%s/command' % self._name, Float32, self.MotorCallback)
def __init__(self, param, relayNum, output):
Device.__init__(self, param.getRelayName(relayNum), output)
self._relayNum = relayNum
Service('%s/setRelay' % self._name, Relay, self.setRelayCallBack)
def __init__(self, param, relayNum, output):
Device.__init__(self, param.getRelayName(relayNum), output)
self._relayNum = relayNum
Service('%s/setRelay' % self._name, Relay, self.setRelayCallBack)
def __init__(self, devId,param, output):
Device.__init__(self, param.getSwitchName(devId), output)
self._pub = Publisher('%s' % self._name, Bool, queue_size=param.getSwitchPubHz(devId))
self._switchId = devId
self._haveRightToPublish = False
def __init__(self, devId,param):
Device.__init__(self, param.getSwitchName(devId), None)
self._pub = Publisher('%s' % self._name, Bool, queue_size=param.getSwitchPubHz(devId))
