def sensor_info_callback(data, bhi_pub):
rospy.loginfo('Distance reading from the sensor is: %f',
data.sensor_data.range)
# Compute the height of the box.
box_height = 2.0 - data.sensor_data.range
rospy.loginfo('box_height: %f', box_height)
# Boxes that are detected to be shorter than 10cm are due to sensor noise. Don't publish!
if ((box_height < 0.1) | (box_height > 1.9)):
rospy.loginfo('NO BOX')
rospy.loginfo('===========================')
pass
else:
rospy.loginfo('BOX ON BELT')
rospy.loginfo('===========================')
#Create message object for publishing the box height information.
box_height_info = BoxHeightInformation()
#Update height of box.
box_height_info.box_height = 2.0 - data.sensor_data.range
# Publish box height using the publisher argument passed to the callback function.
# bhi_publisher.publish(bhi_pub)
bhi_publisher.publish(box_height_info)
def sensor_info_callback(data, bhi_pub):
# Compute the height of the box.
height_box = data.sensor_data.range
# Boxes that are detected to be shorter than 10cm are due to sensor noise.
# Do not publish information about them.
if height_box < 1.9:
pass
else:
# Declare a message object for publishing the box height information.
box_height_info = BoxHeightInformation()
# Update height of box.
box_height_info.box_height = height_box
# Publish box height using the publisher argument passed to the callback function.
bhi_pub.publish(box_height_info)
def sensor_info_callback(data, bhi_pub):
height_box = 2 - data.sensor_data.range
# Compute the height of the box.
# Boxes that are detected to be shorter than 10cm are due to sensor noise. Do not publish information about them.
if height_box < 0.1:
pass
else:
# Declare a message object for publishing the box height information.
box_height_info = BoxHeightInformation()
# Update height of box.
box_height_info.box_height = height_box
box_height_info.units_measurement = "meters"
# Publish box height using the publisher argument passed to the callback function.
bhi_pub.publish(box_height_info)
print("published: ", box_height_info.box_height,
box_height_info.units_measurement)
def sensor_info_callback(data, bhi_pub):
height_box = 2 - data.sensor_data.range
#print(height_box)
#print(data)
#time.sleep(2)
# Compute the height of the box.
# Boxes that are detected to be shorter than 10cm are due to sensor noise.
# Do not publish information about them.
if (height_box == 0.0 and height_box <= 0.1):
#print("Box is not there")
pass
else:
# Declare a message object for publishing the box height information.
box_height_info = BoxHeightInformation()
# Update height of box
box_height_info.box_height = height_box
# Publish box height using the publisher argument passed to the callback function.
bhi_publisher.publish(box_height_info)
print(height_box)
rospy.loginfo("The process was a success with value of %f",
service_response.distance_feet)
bhif.box_height = service_response.distance_feet
print(bhif.box_height)
bhif_publisher.publish(bhif)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
if __name__ == '__main__':
# Initialize the ROS node here.
rospy.init_node('box_height_in_feet', anonymous=True)
bhif_publisher = rospy.Publisher('box_height_in_feet_info',
BoxHeightInformation)
bhif = BoxHeightInformation()
bhif.box_height = 3.25
print(bhif.box_height)
rospy.sleep(3)
# First wait for the service to become available - Part2.
rospy.loginfo("Waiting for service...")
rospy.wait_for_service('metres_to_feet')
rospy.loginfo("Service %s is now available", 'metres_to_feet')
# Create a subscriber to the box height topic - Part1.
rospy.Subscriber('box_height_info', BoxHeightInformation,
box_height_info_callback)
# Prevent this ROS node from terminating until Ctrl+C is pressed.
rospy.spin()