def sensorInfoPublisher():
si_publisher = rospy.Publisher('sensor_info', SensorInformation, queue_size = 10)
rospy.init_node('sensor_info_publisher', anonymous=False)
rate = rospy.Rate(10)
# Create a new SensorInformation object and fill in its contents.
sensor_info = SensorInformation()
# Fill in the header information.
sensor_info.sensor_data.header.stamp = rospy.Time.now()
sensor_info.sensor_data.header.frame_id = 'distance_sensor_frame'
# Fill in the sensor data information.
sensor_info.sensor_data.radiation_type = sensor_info.sensor_data.ULTRASOUND
sensor_info.sensor_data.field_of_view = 0.5 # Field of view of the sensor in rad.
sensor_info.sensor_data.min_range = 0.02 # Minimum distance range of the sensor in m.
sensor_info.sensor_data.max_range = 2.0 # Maximum distance range of the sensor in m.
# Fill in the manufacturer name and part number.
sensor_info.maker_name = 'The Ultrasound Company'
sensor_info.part_number = 123456
while not rospy.is_shutdown():
# Read the sensor data from a simulated sensor.
sensor_info.sensor_data.range = getSensorData(sensor_info.sensor_data.radiation_type,
sensor_info.sensor_data.min_range, sensor_info.sensor_data.max_range)
# Publish the sensor information on the /sensor_info topic.
si_publisher.publish(sensor_info)
# Print log message if all went well.
rospy.loginfo("All went well. Publishing topic {}".format(sensor_info.sensor_data.range))
rate.sleep()
def sensorInfoPublisher():
si_publisher = rospy.Publisher('sensor_info', SensorInformation, queue_size = 10)
rospy.init_node('sensor_info_publisher', anonymous=False)
rate = rospy.Rate(1)
#create a new SensorInformation object and fill in its contents.
sensor_info=SensorInformation()
#fill in the header information
sensor_info.sensor_data.header.stamp= rospy.Time.now()
sensor_info.sensor_data.header.frame_id = 'distance_sensor_frame'
# fill in the sensor information data
sensor_info.sensor_data.radiation_type = sensor_info.sensor_data.ULTRASOUND
sensor_info.sensor_data.field_of_view = 0.5
sensor_info.sensor_data.min_range = 0.02
sensor_info.sensor_data.max_range = 2.00
#fill in the manufacturer name and the part number
sensor_info.maker_name= 'THE ULTRASOUND COMPANY'
sensor_info.part_number = 123456
while not rospy.is_shutdown():
sensor_info.sensor_data.range = getSensorData(sensor_info.sensor_data.radiation_type, sensor_info.sensor_data.min_range,sensor_info.sensor_data.max_range)
si_publisher.publish(sensor_info)
#printing a log message if all went well
rospy.loginfo('All went welll. Publishing topic')
rate.sleep()
def simplePublisher():
si_publisher= rospy.Publisher('sensor_info', SensorInformation, queue_size = 10)
rospy.init_node('sensor_info_publisher', anonymous=False)
rate = rospy.Rate(1)
# The string to be published on the topic
topic1_content = "Welcome to Hello (Real) World with ROS!!!"
sensor_info = SensorInformation()
sensor_info.sensor_data.header.stamp = rospy.Time.now()
sensor_info.sensor_data.header.frame_id = 'distance_sensor_frame'
sensor_info.sensor_data.radiation_type = sensor_info.sensor_data.ULTRASOUND
sensor_info.sensor_data.field_of_view=0.5
sensor_info.sensor_data.min_range=0.02
sensor_info.sensor_data.max_range=2.00
sensor_info.maker_name = 'The Ultrasound Company'
sensor_info.part_number = 123456
while not rospy.is_shutdown():
sensor_info.sensor_data.range = getSensorData(sensor_info.sensor_data.radiation_type, sensor_info.sensor_data.min_range, sensor_info.sensor_data.max_range)
si_publisher.publish(sensor_info)
rospy.loginfo ('ALL WENT WELL. PUBLISHING TOPIC ')
rate.sleep()
def simplePublisher():
ult_publish = rospy.Publisher('ultrasonic',
UltrasonicSensor,
queue_size=10)
rospy.init_node('ultrasonic_publisher', anonymous=False)
rate = rospy.Rate(1)
# create a new ultrasonic object
ultrasonic_info = UltrasonicSensor()
# fill the header of range data type, http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Range.html
ultrasonic_info.sensor_data.header.stamp = rospy.Time.now()
ultrasonic_info.sensor_data.header.frame_id = 'distance_sensor_frame'
# fill the range data type information
ultrasonic_info.sensor_data.radiation_type = ultrasonic_info.sensor_data.ULTRASOUND
ultrasonic_info.sensor_data.field_of_view = 0.5
ultrasonic_info.sensor_data.min_range = 0.002
ultrasonic_info.sensor_data.max_range = 5.000
# fill the info about ultrasonic that we defined
ultrasonic_info.maker_name = "Zero-Inside"
ultrasonic_info.part_number = 00000
ultrasonic_info.sensor_type = "Analog"
while not rospy.is_shutdown():
# feed .range to fake sensor data function
ultrasonic_info.sensor_data.range = getSensorData(
ultrasonic_info.sensor_data.radiation_type,
ultrasonic_info.sensor_data.min_range,
ultrasonic_info.sensor_data.max_range)
ult_publish.publish(ultrasonic_info)
rospy.loginfo("publish new message!")
rospy.loginfo(ultrasonic_info)
rate.sleep()