def __init__(self,
node,
name="ROSPointCloud",
topic="point_cloud",
sensor=None,
publishColors=False,
publishLabels=False,
publishInvalids=False,
**kargs):
ROSOutput.__init__(self,
node,
name=name,
topic=topic,
parent=sensor,
**kargs)
self.sensor = sensor
self.publishColors = publishColors
self.publishLabels = publishLabels
self.publishInvalids = publishInvalids
self.publisher = CROSPointCloud(name, self.node.node, self.topic,
self.queueSize, self.publishColors,
self.publishLabels,
self.publishInvalids)
self.publisher.reparentTo(self)
def __init__(self, node, name = "ROSTransformStamped", topic = "transform",
**kargs):
ROSOutput.__init__(self, node, name = name, topic = topic, **kargs)
self.publisher = CROSTransformStamped(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self, node, name = "ROSImage", topic = "image_color",
image = None, **kargs):
ROSOutput.__init__(self, node, name = name, topic = topic, **kargs)
self.image = image
self.publisher = CROSImage(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self, node, name = "ROSCameraInfo", topic = "camera_info",
sensor = None, orientation = [-90, 0, -90], **kargs):
ROSOutput.__init__(self, node, name = name, topic = topic, parent = sensor,
orientation = orientation, **kargs)
self.sensor = sensor
self.publisher = CROSCameraInfo(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self,
node,
name="ROSTransformStamped",
topic="transform",
**kargs):
ROSOutput.__init__(self, node, name=name, topic=topic, **kargs)
self.publisher = CROSTransformStamped(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self, node, name = "ROSOdometry", topic = "odometry",
actuator = None, platform = None, **kargs):
if platform:
actuator = platform.actuator;
ROSOutput.__init__(self, node, name = name, topic = topic,
parent = actuator, **kargs)
self.actuator = actuator
self.publisher = CROSOdometry(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self,
node,
name="ROSImage",
topic="image_color",
image=None,
**kargs):
ROSOutput.__init__(self, node, name=name, topic=topic, **kargs)
self.image = image
self.publisher = CROSImage(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self, node, name = "ROSPointCloud", topic = "point_cloud",
sensor = None, publishColors = False, publishLabels = False,
publishInvalids = False, **kargs):
ROSOutput.__init__(self, node, name = name, topic = topic,
parent = sensor, **kargs)
self.sensor = sensor
self.publishColors = publishColors
self.publishLabels = publishLabels
self.publishInvalids = publishInvalids
self.publisher = CROSPointCloud(name, self.node.node, self.topic,
self.queueSize, self.publishColors, self.publishLabels,
self.publishInvalids)
self.publisher.reparentTo(self)
def __init__(self,
node,
name="ROSCameraInfo",
topic="camera_info",
sensor=None,
orientation=[-90, 0, -90],
**kargs):
ROSOutput.__init__(self,
node,
name=name,
topic=topic,
parent=sensor,
orientation=orientation,
**kargs)
self.sensor = sensor
self.publisher = CROSCameraInfo(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self,
node,
name="ROSOdometry",
topic="odometry",
actuator=None,
platform=None,
**kargs):
if platform:
actuator = platform.actuator
ROSOutput.__init__(self,
node,
name=name,
topic=topic,
parent=actuator,
**kargs)
self.actuator = actuator
self.publisher = CROSOdometry(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self, node, name="ROSTransforms", **kargs):
ROSOutput.__init__(self, node, name=name, topic="/tf", **kargs)
self.publisher = CROSTransformsStamped(name, self.node.node)
self.publisher.reparentTo(self)
def __init__(self, node, name="ROSTransforms", **kargs):
ROSOutput.__init__(self, node, name=name, topic="/tf", **kargs)
self.publisher = CROSTransformsStamped(name, self.node.node)
self.publisher.reparentTo(self)
