def publish(orders): # Telling the robot what bricks to pick up pub_msg = order() pub_msg.header.stamp = rospy.get_rostime() pub_msg.red = orders['redPicked'] pub_msg.blue = orders['bluePicked'] pub_msg.yellow = orders['yellowPicked'] pub_msg.slider = orders['slider'] global pub pub.publish(pub_msg)
def publishNeededBricks(orders): # Telling the GUI what the order still needs global orderProcess pub_msg = order() pub_msg.header.stamp = rospy.get_rostime() pub_msg.red = orders['redNeeded'] pub_msg.blue = orders['blueNeeded'] pub_msg.yellow = orders['yellowNeeded'] pub_msg.slider = orderProcess global pubGUI pubGUI.publish(pub_msg)