def make_quaternion(angle):
q = tf.transformations.quaternion_from_angle(0, 0, angle)
return Quaternion(*q)
def save_value(value):
# Get the lock on angle
with lock:
# Update the value of angle, based on the sensor measurement
angle = value * 2 * pi / 100.0
if __name__ == '__main__':
# Create a lock for angle, to prevent simultaneous access
lock = Lock()
sensor = FakeSensor()
sensor.register_callback(save_value)
rospy.init_node('fake_sensor')
pub = rospy.Publisher('angle', Quaternion, queue_size=10)
angle = None
rate = rospy.Rate(10)
while not rospy.is_shutdown():
with lock:
if angle:
q = make_quaternion(angle)
pub.publish(q)
rate.sleep()
#! /usr/bin/env python
from math import pi
from fake_sensor import FakeSensor
import rospy
import tf
from geometry_msgs.msg import Quaternion
def make_quaternion(angle):
q = tf.transformations.quaternion_from_euler(0, 0, angle)
return Quaternion(*q)
def publish_value(value):
angle = value * 2 * pi / 100.0
q = make_quaternion(angle)
pub.publish(q)
if __name__ == '__main__':
rospy.init_node("fake_sensor")
pub = rospy.Publisher('angle', Quaternion, queue_size=10)
sensor = FakeSensor()
sensor.register_callback(publish_value)
def make_quaternion(angle):
q = tf.transformations.quaternion_from_euler(0, 0, angle)
return Quaternion(*q)
def save_value(value):
with lock: # <1>
angle = value * 2 * pi / 100.0 # <2>
if __name__ == '__main__':
lock = Lock() # <3>
sensor = FakeSensor()
sensor.register_callback(save_value)
rospy.init_node('fake_sensor')
pub = rospy.Publisher('angle', Quaternion, queue_size=10)
angle = None # <4>
rate = rospy.Rate(10.0)
while not rospy.is_shutdown():
with lock:
if angle: # <5>
q = make_quaternion(angle)
pub.publish(q)
rate.sleep()
#!/usr/bin/env python
from math import pi
from fake_sensor import FakeSensor
import rospy
import tf
from geometry_msgs.msg import Quaternion
def make_quaternion(angle):
q = tf.transformations.quaternion_from_euler(0, 0, angle)
return Quaternion(*q)
def publish_value(value):
angle = value * 2 * pi / 100.0
q = make_quaternion(angle)
pub.publish(q)
if __name__ == '__main__':
rospy.init_node('fake_sensor')
pub = rospy.Publisher('angle', Quaternion, queue_size=10)
sensor = FakeSensor()
sensor.register_callback(publish_value)