def __init__(self):
rospy.init_node("max_sonar")
self.sensor = maxSonar()
# start channel broadcast using SetupAnalogIn
rospy.wait_for_service('arbotix/SetupAnalogIn')
analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel)
req = SetupChannelRequest()
req.topic_name = rospy.get_param("~name")
req.pin = rospy.get_param("~pin")
req.rate = int(rospy.get_param("~rate",10))
analog_srv(req)
# setup a range message to use
self.msg = Range()
self.msg.radiation_type = self.sensor.radiation_type
self.msg.field_of_view = self.sensor.field_of_view
self.msg.min_range = self.sensor.min_range
self.msg.max_range = self.sensor.max_range
# publish/subscribe
self.pub = rospy.Publisher("sonar_range", Range)
rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb)
rospy.spin()
def __init__(self):
rospy.init_node("ir_ranger")
# sensor type: choices are A710YK (40-216"), A02YK (8-60"), A21YK (4-30")
self.sensor_t = rospy.get_param("~type","GP2D12")
if self.sensor_t == "A710YK" or self.sensor_t == "ultralong":
self.sensor = gpA710YK()
elif self.sensor_t == "A02YK" or self.sensor_t == "long":
self.sensor = gpA02YK()
else:
self.sensor = gp2d12()
# start channel broadcast using SetupAnalogIn
rospy.wait_for_service('arbotix/SetupAnalogIn')
analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel)
req = SetupChannelRequest()
req.topic_name = rospy.get_param("~name")
req.pin = rospy.get_param("~pin")
req.rate = int(rospy.get_param("~rate",10))
analog_srv(req)
# setup a range message to use
self.msg = Range()
self.msg.radiation_type = self.sensor.radiation_type
self.msg.field_of_view = self.sensor.field_of_view
self.msg.min_range = self.sensor.min_range
self.msg.max_range = self.sensor.max_range
# publish/subscribe
self.pub = rospy.Publisher("ir_range", Range)
rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb)
rospy.spin()
def __init__(self):
rospy.init_node("ir_ranger")
# sensor type: choices are A710YK (40-216"), A02YK (8-60"), A21YK (4-30")
self.sensor_t = rospy.get_param("~type", "GP2D12")
if self.sensor_t == "A710YK" or self.sensor_t == "ultralong":
self.sensor = gpA710YK()
elif self.sensor_t == "A02YK" or self.sensor_t == "long":
self.sensor = gpA02YK()
else:
self.sensor = gp2d12()
# start channel broadcast using SetupAnalogIn
rospy.wait_for_service('arbotix/SetupAnalogIn')
analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel)
req = SetupChannelRequest()
req.topic_name = rospy.get_param("~name")
req.pin = rospy.get_param("~pin")
req.rate = int(rospy.get_param("~rate", 10))
analog_srv(req)
# setup a range message to use
self.msg = Range()
self.msg.radiation_type = self.sensor.radiation_type
self.msg.field_of_view = self.sensor.field_of_view
self.msg.min_range = self.sensor.min_range
self.msg.max_range = self.sensor.max_range
# publish/subscribe
self.pub = rospy.Publisher("ir_range", Range, queue_size=5)
rospy.Subscriber("arbotix/" + req.topic_name, Analog, self.readingCb)
rospy.spin()
def __init__(self):
rospy.init_node("max_sonar")
self.sensor = maxSonar()
# start channel broadcast using SetupAnalogIn
rospy.wait_for_service('arbotix/SetupAnalogIn')
analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel)
req = SetupChannelRequest()
req.topic_name = rospy.get_param("~name")
req.pin = rospy.get_param("~pin")
req.rate = int(rospy.get_param("~rate", 10))
analog_srv(req)
# setup a range message to use
self.msg = Range()
self.msg.radiation_type = self.sensor.radiation_type
self.msg.field_of_view = self.sensor.field_of_view
self.msg.min_range = self.sensor.min_range
self.msg.max_range = self.sensor.max_range
# publish/subscribe
self.pub = rospy.Publisher("sonar_range", Range, queue_size=5)
rospy.Subscriber("arbotix/" + req.topic_name, Analog, self.readingCb)
rospy.spin()
