janus_host = required_param('/lg_mirror/janus_stream_host', str)
janus_port = required_param('~janus_port', int)
device = rospy.get_param('~device', '/dev/capture_cam')
width = int(rospy.get_param('~width'))
height = int(rospy.get_param('~height'))
framerate = int(rospy.get_param('~framerate'))
max_quantizer = int(rospy.get_param('~max_quantizer', 60))
target_bitrate = int(rospy.get_param('~target_bitrate', 768000))
flip = rospy.get_param('~flip', False) in ['true', 'True', 't', 'yes', 'flipped', True]
capture = CaptureWebcam(
janus_host,
janus_port,
device,
width,
height,
framerate,
max_quantizer,
target_bitrate,
flip,
)
capture.start_capture()
rospy.spin()
if __name__ == '__main__':
run_with_influx_exception_handler(main, NODE_NAME)
CLEAR_BUTTON = 2
NODE_NAME = 'rfreceiver_kill_browser'
class RfreceiverAction:
def __init__(self):
rospy.init_node(NODE_NAME)
self.clear_button_message = rospy.get_param('~clear_button_message', 2)
self.fallback_mode = rospy.get_param('~fallback_mode', 'tactile')
self.reset_command = rospy.get_param('~reset_command', 'pkill chrome')
def handle_button_msg(self, msg):
if msg.data == self.clear_button_message:
subprocess.call(
['/home/lg/bin/lg-run-bg', self.reset_command],
stdout=DEVNULL,
stderr=DEVNULL
)
def main(self):
buttondown_pub = rospy.Subscriber(
'/rfreceiver/buttondown',
Byte,
self.handle_button_msg
)
rospy.spin()
if __name__ == '__main__':
run_with_influx_exception_handler(RfreceiverAction().main, NODE_NAME)
self.set_header('Access-Control-Allow-Origin', '*')
def compute_etag(self):
return None
def main():
rospy.init_node(NODE_NAME)
port = rospy.get_param('~port', 8008)
rospack = rospkg.RosPack()
pkg_path = rospack.get_path('lg_common')
share_path = os.path.abspath(os.path.join(pkg_path, os.pardir))
rospy.loginfo('Serving files from {} on port {}'.format(share_path, port))
handler = DevStaticHandler
dev_webserver = tornado.web.Application([
(r'/(.*)', handler, {'path': share_path}),
])
dev_webserver.listen(port)
ioloop = tornado.ioloop.IOLoop.instance()
rospy.on_shutdown(ioloop.stop)
ioloop.start()
if __name__ == '__main__':
run_with_influx_exception_handler(main, NODE_NAME)
password = rospy.get_param('~password', None)
suppress_spacenav = rospy.get_param('~suppress_spacenav', True)
locked = rospy.get_param('~locked', False)
statePublisher = rospy.Publisher('/lg_lock/locked', State, queue_size=1, latch=True)
if not password:
rospy.logerr('No or blank password provided, exiting...')
print "No or blank password provided, exiting..."
return
suppressProxy = rospy.ServiceProxy('/spacenav_wrapper/suppress', SetBool)
def onChange(state):
if suppress_spacenav:
rospy.loginfo("Suppress spacenav: {}".format(state))
suppressProxy(state)
service = LockerService(statePublisher, password, locked, onChange)
rospy.Service('/lg_lock/is_locked', IsLocked, service.get_state)
rospy.Service('/lg_lock/lock', Lock, service.lock)
rospy.Service('/lg_lock/unlock', UnLock, service.unlock)
rospy.spin()
if __name__ == "__main__":
run_with_influx_exception_handler(init, NODE_NAME)
