def cb_reset(self, msg): self.kf.__init__() self.state_lock.acquire() pantiltReset(self.ptu_pub) result = ptu_control.msg.PtuResetResult() self.pan = 0 self.tilt = 0 self.state_lock.release() self.as_reset.set_succeeded(result)
def cb_reset(self, msg):
self.kf.__init__()
self.state_lock.acquire()
pantiltReset(self.ptu_pub)
result = ptu_control.msg.PtuResetResult()
self.pan = 0
self.tilt = 0
self.state_lock.release()
self.as_reset.set_succeeded(result)
def __init__(self, reset=True):
self.PAN_RANGE = rospy.get_param('pan_range', 70)
self.TILT_RANGE = rospy.get_param('tilt_range', 30)
self.PARENT_FRAME = rospy.get_param('parent_frame', 'odom')
self.PTU_FRAME = rospy.get_param('parent_frame', 'ptu')
# setup the subscribers and publishers
self.joint_pub = rospy.Publisher('state', JointState)
self.ptu_pub = rospy.Publisher('/pantilt', PanTilt)
self.as_goto = actionlib.SimpleActionServer('SetPTUState', \
ptu_control.msg.PtuGotoAction, execute_cb=self.cb_goto)
self.as_reset = actionlib.SimpleActionServer('ResetPtu', \
ptu_control.msg.PtuResetAction, execute_cb=self.cb_reset)
rospy.Subscriber('ground_truth_pantilt', PanTilt, self.ground_truth_cb)
self.br = tf.TransformBroadcaster()
threading.Thread(target=self.send_transform).start()
if reset:
rospy.sleep(1.0)
pantiltReset(self.ptu_pub)
def __init__(self, reset=True):
self.PAN_RANGE = rospy.get_param('pan_range', 70)
self.TILT_RANGE = rospy.get_param('tilt_range', 30)
self.PARENT_FRAME = rospy.get_param('parent_frame', 'odom')
self.PTU_FRAME = rospy.get_param('parent_frame', 'ptu')
# setup the subscribers and publishers
self.joint_pub = rospy.Publisher('state', JointState)
self.ptu_pub = rospy.Publisher('/pantilt', PanTilt)
self.as_goto = actionlib.SimpleActionServer('SetPTUState', \
ptu_control.msg.PtuGotoAction, execute_cb=self.cb_goto)
self.as_reset = actionlib.SimpleActionServer('ResetPtu', \
ptu_control.msg.PtuResetAction, execute_cb=self.cb_reset)
rospy.Subscriber('ground_truth_pantilt', PanTilt, self.ground_truth_cb)
self.br = tf.TransformBroadcaster()
threading.Thread(target=self.send_transform).start()
if reset:
rospy.sleep(1.0)
pantiltReset(self.ptu_pub)
