def main():
# instantiate the distance object
#sensor = DistanceSensor()
my_sensor = EasyDistanceSensor()
#sensor.start_continuous()
rospy.init_node("distance_sensor")
pub_distance = rospy.Publisher("~distance", Range, queue_size=10)
msg_range = Range()
msg_range.header.frame_id = "distance"
msg_range.radiation_type = Range.INFRARED
msg_range.min_range = 0.02
msg_range.max_range = 3.0
rate = rospy.Rate(rospy.get_param('~hz', 1))
while not rospy.is_shutdown():
# read distance in meters
read_distance = my_sensor.read() / 100.0
msg_range.range = read_distance
# Add timestamp
msg_range.header.stamp = rospy.Time.now()
# Print current distance
print msg_range.range * 1000, " mm"
# Publish distance message
pub_distance.publish(msg_range)
rate.sleep()
class MrA(gopigo3.GoPiGo3):
def __init__(self):
super().__init__()
self.imu = InertialMeasurementUnit(bus="GPG3_AD1")
self.ds = EasyDistanceSensor()
def dist(self):
num = self.ds.read()
print("distance from object: {} mm".format(num))
return num
def angle(self):
num = self.imu.read_euler()[0]
print("currently facing angle: {} deg".format(num))
return num
#!/usr/bin/env python
#
# https://www.dexterindustries.com
#
# Copyright (c) 2017 Dexter Industries
# Released under the MIT license (http://choosealicense.com/licenses/mit/).
# For more information see https://github.com/DexterInd/DI_Sensors/blob/master/LICENSE.md
#
# Python example program for the Dexter Industries Distance Sensor
from __future__ import print_function
from __future__ import division
# import the modules
from di_sensors.easy_distance_sensor import EasyDistanceSensor
from time import sleep
# instantiate the distance object
my_sensor = EasyDistanceSensor()
# and read the sensor iteratively
while True:
read_distance = my_sensor.read()
print("distance from object: {} mm".format(read_distance))
sleep(0.1)