def __init__(self,scr): #constructor
self.scr = scr #for curses
self.bumper_sub = rospy.Subscriber("mobile_base/events/bumper", BumperEvent, self.bumper_cb)
self.power_cmd_pub = rospy.Publisher("mobile_base/commands/motor_power", MotorPower,queue_size=10)
self.vel_cmd_pub = rospy.Publisher("mobile_base/commands/velocity",Twist,queue_size=10)
self.vel_cmd = Twist()
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/cv_camera/image_raw",Image,self.image_cb)
self.image_pub = rospy.Publisher("/image_converter/output_video",Image, queue_size=10)
self.status = ks.KobukiStatus()
def __init__(self, scr): #constructor
self.scr = scr #for curses
self.bumper_sub = rospy.Subscriber("mobile_base/events/bumper",
BumperEvent, self.bumper_cb)
self.power_cmd_pub = rospy.Publisher(
"mobile_base/commands/motor_power", MotorPower, queue_size=10)
self.vel_cmd_pub = rospy.Publisher("mobile_base/commands/velocity",
Twist,
queue_size=10)
self.vel_cmd = Twist()
self.status = ks.KobukiStatus()
def __init__(self, scr):
self.frame = 0
self.scr = scr
self.bumper_sub = rospy.Subscriber("mobile_base/events/bumper",
BumperEvent, self.bumper_cb)
self.power_cmd_pub = rospy.Publisher(
"mobile_base/commands/motor_power", MotorPower, queue_size=10)
self.vel_cmd_pub = rospy.Publisher("mobile_base/commands/velocity",
Twist,
queue_size=10)
self.vel_cmd = Twist()
self.odm_reset_pub = rospy.Publisher(
"mobile_base/commands/reset_odometry", Empty, queue_size=10)
self.odom_sub = rospy.Subscriber("odom", Odometry, self.odom_cb)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/cv_camera/image_raw", Image,
self.image_cb)
self.image_pub = rospy.Publisher("/image_converter/output_video",
Image,
queue_size=10)
self.status = ks.KobukiStatus()