def relayboard_sim():
rospy.init_node('cob_relayboard_sim')
# emergency_stop topic
pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
msg_em = EmergencyStopState()
msg_em.emergency_button_stop = False
msg_em.scanner_stop = False
msg_em.emergency_state = 0
# power_board/state topic
pub_power_board = rospy.Publisher('/power_board/state', PowerBoardState)
msg_power_board = PowerBoardState()
msg_power_board.header.stamp = rospy.Time.now()
msg_power_board.run_stop = True
msg_power_board.wireless_stop = True #for cob the wireless stop field is misused as laser stop field
# power_board/voltage topic
pub_voltage = rospy.Publisher('/power_board/voltage', Float64)
msg_voltage = Float64()
msg_voltage.data = 48.0 # in simulation battery is always full
while not rospy.is_shutdown():
pub_em_stop.publish(msg_em)
pub_power_board.publish(msg_power_board)
pub_voltage.publish(msg_voltage)
rospy.sleep(1.0)
def relayboard_sim():
rospy.init_node('cob_relayboard_sim')
# emergency_stop topic
pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
msg_em = EmergencyStopState()
msg_em.emergency_button_stop = False
msg_em.scanner_stop = False
msg_em.emergency_state = 0
# power_board/state topic
pub_power_board = rospy.Publisher('/power_board/state', PowerBoardState)
msg_power_board = PowerBoardState()
msg_power_board.header.stamp = rospy.Time.now()
msg_power_board.run_stop = True
msg_power_board.wireless_stop = True #for cob the wireless stop field is misused as laser stop field
# power_board/voltage topic
pub_voltage = rospy.Publisher('/power_board/voltage', Float64)
msg_voltage = Float64()
msg_voltage.data = 48.0 # in simulation battery is always full
while not rospy.is_shutdown():
pub_em_stop.publish(msg_em)
pub_power_board.publish(msg_power_board)
pub_voltage.publish(msg_voltage)
rospy.sleep(1.0)
def talker():
pub = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
rospy.init_node('cob_relayboard_sim')
em = EmergencyStopState()
em.emergency_button_stop = False
em.scanner_stop = False
em.emergency_state = 0
while not rospy.is_shutdown():
pub.publish(em)
rospy.sleep(1.0)
def relayboard_sim():
rospy.init_node('cob_relayboard_sim')
# emergency_stop topic
pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
msg_em = EmergencyStopState()
msg_em.emergency_button_stop = False
msg_em.scanner_stop = False
msg_em.emergency_state = 0
# power_state topic
#pub_power = rospy.Publisher('/power_state', PowerState)
#msg_power = PowerState()
#msg_power.header.stamp = rospy.Time.now()
#msg_power.time_remaining.secs = 1000
#msg_power.relative_capacity = 70
while not rospy.is_shutdown():
pub_em_stop.publish(msg_em)
#pub_power.publish(msg_power) comes already out of gazebo
rospy.sleep(1.0)
def relayboard_sim():
rospy.init_node("cob_relayboard_sim")
# emergency_stop topic
pub_em_stop = rospy.Publisher("/emergency_stop_state", EmergencyStopState)
msg_em = EmergencyStopState()
msg_em.emergency_button_stop = False
msg_em.scanner_stop = False
msg_em.emergency_state = 0
# power_state topic
# pub_power = rospy.Publisher('/power_state', PowerState)
# msg_power = PowerState()
# msg_power.header.stamp = rospy.Time.now()
# msg_power.time_remaining.secs = 1000
# msg_power.relative_capacity = 70
while not rospy.is_shutdown():
pub_em_stop.publish(msg_em)
# pub_power.publish(msg_power) comes already out of gazebo
rospy.sleep(1.0)
