class ROSTwist(ROSInput):
def __init__(self, node, name = "ROSTwist", topic = "cmd_vel",
queueSize = None, actuator = None, platform = None, **kargs):
if platform:
actuator = platform.actuator;
ROSInput.__init__(self, node, name = name, topics = [topic],
queueSizes = [queueSize], parent = actuator, **kargs)
self.actuator = actuator
self.subscriber = CROSTwist(name, self.node.node, self, self.topic,
self.queueSize)
self.subscriber.reparentTo(self)
#-------------------------------------------------------------------------------
def inputData(self, time, translationalVelocity = None,
rotationalVelocity = None):
if translationalVelocity:
self.actuator.translationalVelocity = translationalVelocity
if rotationalVelocity:
self.actuator.rotationalVelocity = rotationalVelocity
class ROSTwist(ROSInput):
def __init__(self,
node,
name="ROSTwist",
topic="cmd_vel",
queueSize=None,
actuator=None,
platform=None,
**kargs):
if platform:
actuator = platform.actuator
ROSInput.__init__(self,
node,
name=name,
topics=[topic],
queueSizes=[queueSize],
parent=actuator,
**kargs)
self.actuator = actuator
self.subscriber = CROSTwist(name, self.node.node, self, self.topic,
self.queueSize)
self.subscriber.reparentTo(self)
#-------------------------------------------------------------------------------
def inputData(self,
time,
translationalVelocity=None,
rotationalVelocity=None):
if translationalVelocity:
self.actuator.translationalVelocity = translationalVelocity
if rotationalVelocity:
self.actuator.rotationalVelocity = rotationalVelocity