def __init__(self):
rospy.init_node('clearpath_base')
self.port = rospy.get_param('~port', '')
self.cmd_fill = rospy.get_param('~cmd_fill', True)
if self.port != '':
# Serial port
rospy.loginfo("Using port %s", self.port)
self.horizon = Horizon(transport=transports.Serial,
transport_args={'port': self.port})
else:
# Not specified. Autodetect.
rospy.loginfo("Using port autodetection")
self.horizon = Horizon(transport=transports.Serial.autodetect)
announce_pub = rospy.Publisher('/clearpath/announce/robots',
String,
latch=True)
announce_pub.publish(rospy.get_namespace())
self.freq_pub = rospy.Publisher('cmd_freq', Float32, latch=True)
self.cmd_sub = rospy.Subscriber("cmd_vel", Twist, self.cmd_vel_handler)
self.cmd_msg = Twist()
self.cmd_time = rospy.Time.now()
self.cmd_event = Event()
# exact serial data
transports.logger.propagate = True
transports.logger.setLevel(logging.WARNING)
rospy.init_node('horizon_robot')
# Instantiate Horizon
PORT = rospy.get_param('~port', '')
if PORT != '':
# Serial port specified.
print "Using specified port: %s " % PORT
horizon = Horizon(transport = transports.HorizonTransport_Serial,
transport_args = { 'port': PORT },
rec_timeout = 5000, send_timeout = 200, store_timeout = 10000)
else:
# Not specified. Autodetect.
print "Using Serial Autodetect."
horizon = Horizon(rec_timeout = 5000, send_timeout = 200, store_timeout = 10000)
horizon.open()
announce_pub = rospy.Publisher('/clearpath/announce', Announce, latch=True)
announce_pub.publish(action="new_robot", topic=os.getenv("ROS_NAMESPACE", ""));
data.DataReceiver(horizon)
VELOCITY_CONTROL = int(rospy.get_param('~velocity_control', '0')) # bool
OUTPUT_CONTROL = int(rospy.get_param('~output_control', '0')) # bool
#!/usr/bin/python
"""
Contest code for "Robotem Rovne (RR)" (Robot go Straight!)
- taken from original example of Clearpath Robotics
"""
from clearpath.horizon import Horizon
from clearpath.horizon.transports import Serial
import time
horizon = Horizon(transport=Serial, transport_args={'port':'/dev/ttyUSB1'})
#horizon = Horizon()
horizon.open()
def status_handler(code, payload, timestamp):
print(payload.print_format())
#horizon.add_handler(status_handler, request = 'system_status')
#horizon.request_system_status(subscription = 1)
for i in range(1, 3):
left_percent = right_percent = i * 10
horizon.set_differential_output(left_percent, right_percent)
time.sleep(0.5)
while True:
horizon.set_differential_output(30, 33)
time.sleep(0.5)
time.sleep(1)
