MAX_SPEED = 6.28
# maximal value returned by the sensors
MAX_SENSOR_VALUE = 1024
# minimal distance, in meters, for an obstacle to be considered
MIN_DISTANCE = 1.0
# create the robot instance
robot = Robot()
# inicializa kinect
kinectColor = robot.getCamera('kinect color')
kinectDepth = robot.getRangeFinder('kinect range')
print(kinectColor)
Camera.enable(kinectColor, TIME_STEP)
RangeFinder.enable(kinectDepth, TIME_STEP)
# get a handler to the motors and set target position to infinity (speed control)
leftMotorFront = robot.getMotor('front left wheel')
rightMotorFront = robot.getMotor('front right wheel')
leftMotorBack = robot.getMotor('back left wheel')
rightMotorBack = robot.getMotor('back right wheel')
leftMotorFront.setPosition(float('inf'))
rightMotorFront.setPosition(float('inf'))
leftMotorBack.setPosition(float('inf'))
rightMotorBack.setPosition(float('inf'))
# initialize devices
ps = []
psNames = [
rospy.init_node('camera_test_node')
robot = Robot()
global camPub
global rangePub
camPub = rospy.Publisher('/camera/image', Image, queue_size=20)
rangePub = rospy.Publisher('/range_finder/image', Image, queue_size=20)
# get the time step of the current world.
timestep = int(robot.getBasicTimeStep())
SAMPLE_TIME = 100
camera = robot.getDevice('camera')
depth = robot.getDevice('range-finder')
global rscam
global depthcam
rscam = Camera('camera')
depthcam = RangeFinder('range-finder')
depthcam.enable(SAMPLE_TIME)
rscam.enable(SAMPLE_TIME)
rospy.Subscriber('publish_images', Bool, camera_CB)
clockPublisher = rospy.Publisher('clock', Clock, queue_size=1)
if not rospy.get_param('use_sim_time', False):
rospy.logwarn('use_sim_time is not set!')
# Main loop:
# - perform simulation steps until Webots is stopping the controller
while robot.step(timestep) != -1 and not rospy.is_shutdown():
msg = Clock()
time = robot.getTime()
msg.clock.secs = int(time)
# round prevents precision issues that can cause problems with ROS timers
def respond(result, data=None):
cmd = {}
cmd["result"] = result
cmd["data"] = data
send_msg(pickle.dumps(cmd))
def continous_timestep():
while robot.step(timestep) != -1:
pass
robot = Robot()
cameraRGB = Camera("cameraRGB")
cameraDepth = RangeFinder("cameraDepth")
timestep = int(robot.getBasicTimeStep())
current_task = "idle"
args = None
command_is_executing = False
print_once_flag = True
rgb_enabled = False
depth_enabled = False
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.bind(('localhost', 2001))
server.listen()
print("Waiting for connection")
robot.step(1) # webots won't print without a step
conn, addr = server.accept()
MAX_SPEED = 6.28
# maximal value returned by the sensors
MAX_SENSOR_VALUE = 1024
# minimal distance, in meters, for an obstacle to be considered
MIN_DISTANCE = 1.0
# create the robot instance
robot = Robot()
# inicializa kinect
kinectColor = robot.getCamera('kinect color')
kinectDepth = robot.getRangeFinder('kinect range')
print(kinectColor)
Camera.enable(kinectColor, TIME_STEP)
RangeFinder.enable(kinectDepth, TIME_STEP)
# get a handler to the motors and set target position to infinity (speed control)
leftMotorFront = robot.getMotor('front left wheel')
rightMotorFront = robot.getMotor('front right wheel')
leftMotorBack = robot.getMotor('back left wheel')
rightMotorBack = robot.getMotor('back right wheel')
leftMotorFront.setPosition(float('inf'))
rightMotorFront.setPosition(float('inf'))
leftMotorBack.setPosition(float('inf'))
rightMotorBack.setPosition(float('inf'))
# initialize devices
ps = []
psNames = ['so0', 'so1', 'so2', 'so3', 'so4', 'so5', 'so6', 'so7']
#sensörün mesafede nasıl algı m
min_uzaklık = 1.0
# create the Robot instance.
robot = Robot()
# get the time step of the current world.
timestep = int(robot.getBasicTimeStep())
#Camera ve RangeFinder getirir
kinectColor = robot.getCamera("kinect color")
kinectRange = robot.getRangeFinder("kinect range")
#camera ve rangefinder başlatıldı
Camera.enable(kinectColor, timestep)
RangeFinder.enable(kinectRange, timestep)
# motorların tagını getirir
#motorları getirir
solMotor = robot.getMotor("left wheel")
sağMotor = robot.getMotor("right wheel")
#motorları hareket etirir
solMotor.setPosition(float("inf"))
sağMotor.setPosition(float("inf"))
ps = []
psNames = ["so0", "so1", "so2", "so3", "so4", "so5", "so6", "so7"]
for i in range(8):
ps.append(robot.getDistanceSensor(psNames[i]))