def setXYValues(self,newX,newY): vel = CMDVel() myW=-newX*(self.sensors.motors.getMaxW())*2 myV=-newY*(self.sensors.motors.getMaxV()) vel.vx = myV vel.az = myW self.sensors.motors.sendVelocities(vel)
def setXYValues(self,newX,newY): vel = CMDVel() myW=-newX*(self.motors.getMaxW())*2 myV=-newY*(self.motors.getMaxV()) vel.vx = myV vel.az = myW self.motors.sendVelocities(vel)
def setXYValues(self, newX, newY): self.XValue.setText(str(newX)) self.YValue.setText(str(newY)) if (self.motors): vel = CMDVel() myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() vel.vx = myV vel.az = myW self.motors.sendVelocities(vel)
def setXYValues(self, newX, newY): self.XValue.setText(str(newX)) self.YValue.setText(str(newY)) if (self.motors): vel = CMDVel() myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() vel.vx = myV vel.az = myW self.motors.sendVelocities(vel)
def __init__(self, topic, jdrc): ''' PublisherCMDVel Constructor. @param topic: ROS topic to publish @param jdrc: jderobot Communicator @type topic: String @type jdrc: jderobot Communicator ''' rospy.init_node("ss") self.topic = topic self.jdrc = jdrc self.vel = CMDVel() self.pub = self.pub = rospy.Publisher(topic, TwistStamped, queue_size=1) self.lock = threading.Lock() self.kill_event = threading.Event() self.thread = ThreadPublisher(self, self.kill_event) self.thread.daemon = True self.start()
def __init__(self, jdrc): """ Init method. @param jdrc: """ # variables self.__vel = CMDVel() # get clients self.__motors_client = jdrc.getMotorsClient("robot.Motors") self.__laser_client = jdrc.getLaserClient("robot.Laser")
def __init__(self, ic, node): """ Init method. @param ic: @param node: """ # variables self.__vel = CMDVel() # get clients self.__motors_client = comm.getMotorsClient(ic, "robot.Motors", node) self.__laser_client = comm.getLaserClient(ic, "robot.Laser", node)
def __init__(self, cfg): """ Init method. @param cfg: """ jdrc = comm.init(cfg, 'robot') # variables self.__vel = CMDVel() # get clients self.__pose3d_client = jdrc.getPose3dClient("robot.Pose3D") self.__motors_client = jdrc.getMotorsClient("robot.Motors") self.__laser_client = jdrc.getLaserClient("robot.Laser")
def __init__(self, cfg): """ Init method. @param cfg: """ # ymlNode = cfg.getProperty("robot") # return dict with properties from yml # get node self.__node = rospy.init_node("robot", anonymous=True) # get clients prefix = "robot.Pose3D" print("Receiving " + prefix + " from ROS messages") topic = cfg.getProperty(prefix + ".Topic") self.__pose3d_client = ListenerPose3d(topic) prefix = "robot.Motors" print("Publishing " + prefix + " with ROS messages") topic = cfg.getProperty(prefix + ".Topic") maxW = cfg.getPropertyWithDefault(prefix + ".maxW", 0.5) if not maxW: maxW = 0.5 print(prefix + ".maxW not provided, the default value is used: " + repr(maxW)) maxV = cfg.getPropertyWithDefault(prefix + ".maxV", 5) if not maxV: maxV = 5 print(prefix + ".maxV not provided, the default value is used: " + repr(maxV)) self.__motors_client = PublisherMotors(topic, maxV, maxW) prefix = "robot.Laser" print("Receiving " + prefix + " from ROS messages") topic = cfg.getProperty(prefix + ".Topic") self.__laser_client = ListenerLaser(topic) # variables self.__vel = CMDVel()
def __init__(self, jdrc, prefix): self.lock = threading.Lock() ic = jdrc.getIc() self.vel = CMDVel() try: proxyStr = jdrc.getConfig().getProperty(prefix + ".Proxy") base = ic.stringToProxy(proxyStr) self.proxy = jderobot.CMDVelPrx.checkedCast(base) if not self.proxy: print('Interface ' + prefix + ' not configured') except Ice.ConnectionRefusedException: print(prefix + ': connection refused') except: traceback.print_exc() exit(-1)
def __init__(self, topic, maxV, maxW): ''' ListenerMotors Constructor. @param topic: ROS topic to publish @type topic: String ''' self.maxW = maxW self.maxV = maxV self.topic = topic self.data = CMDVel() self.pub = self.pub = rospy.Publisher(self.topic, Twist, queue_size=1) self.lock = threading.Lock() self.kill_event = threading.Event() self.thread = ThreadPublisher(self, self.kill_event) self.thread.daemon = True self.start()
def __init__(self, topic, jdrc): ''' PublisherCMDVel Constructor. @param topic: ROS topic to publish @param jdrc: jderobot Communicator @type topic: String @type jdrc: jderobot Communicator ''' self.node = rclpy.create_node("CmdVel_pub") self.topic = topic self.jdrc = jdrc self.vel = CMDVel() self.pub = self.pub = self.node.create_publisher( TwistStamped, topic, 1) self.lock = threading.Lock() self.kill_event = threading.Event() self.thread = ThreadPublisher(self, self.kill_event) self.thread.daemon = True self.start()
#!/usr/bin/env python3 import config import comm import sys import time import signal from jderobotTypes import CMDVel if __name__ == '__main__': cfg = config.load(sys.argv[1]) jdrc= comm.init(cfg, "Test") vel = CMDVel() vel.vx = 1 vel.az = 0.1 client = jdrc.getMotorsClient("Test.Motors") for i in range (10): client.sendVelocities(vel) time.sleep(1) jdrc.destroy()
#!/usr/bin/env python3 import easyiceconfig as EasyIce import jderobotComm as comm import sys import time import signal from jderobotTypes import CMDVel if __name__ == '__main__': ic = EasyIce.initialize(sys.argv) ic, node = comm.init(ic) vel = CMDVel() vel.vx = 1 vel.az = 0.1 client = comm.getMotorsClient(ic, "kobukiViewer.Motors") #client2 = comm.getLaserClient(ic, "kobukiViewer.Laser") for i in range (10): client.sendVelocities(vel) time.sleep(1) comm.destroy(ic, node)