from fake_sensor import FakeSensor
import rospy
import tf
from geometry_msgs.msg import Quaternion
from ch15.srv import FakeSensor, FakeSensorResponse # modified
def make_quaternion(angle):
q = tf.transformations.quaternion_from_euler(0, 0, angle)
return Quaternion(*q)
def callback(request): # <1>
angle = sensor.value() * 2 * pi / 100.0
q = make_quaternion(angle)
return FakeSensorResponse(q)
if __name__ == '__main__':
sensor = FakeSensor()
rospy.init_node('fake_sensor')
service = rospy.Service('angle', FakeSensor, callback) # <2>
rospy.spin() # added
from fake_sensor import FakeSensor # <1>
import rospy
import tf
from geometry_msgs.msg import Quaternion # <2>
def make_quaternion(angle): # <3>
q = tf.transformations.quaternion_from_euler(0, 0, angle)
return Quaternion(*q)
if __name__ == '__main__':
sensor = FakeSensor() # <4>
rospy.init_node('fake_sensor')
pub = rospy.Publisher('angle', Quaternion, queue_size=10)
rate = rospy.Rate(10.0) # <5>
while not rospy.is_shutdown(): # <6>
angle = sensor.value() * 2 * pi / 100.0
q = make_quaternion(angle)
pub.publish(q)
rate.sleep()
