def __init__(self, name = "MorselMOOS", configFile = "",
serverHost = "localhost", serverPort = 9000, commTick = 10,
quiet = True, **kargs):
Node.__init__(self, name, **kargs)
self.configFile = configFile
self.serverHost = serverHost
self.serverPort = serverPort
self.commTick = commTick
self.quiet = quiet
self.client = CMOOSClient(name, self.configFile, self.serverHost,
self.serverPort, self.commTick, self.quiet)
self.client.reparentTo(self)
framework.scheduler.addTask(name+"Receive", self.receive,
1.0/self.client.getCommTick())
def __init__(self, client=None, platform=None, message="", **kargs):
super(EuropaOdometry, self).__init__(**kargs)
self.client = client
self.platform = platform
self.message = message
self.publisher = CEuropaOdometry("CEuropaOdometry", self.client.client, self.message)
self.publisher.reparentTo(self)
self.origin = Node("Origin", parent=self)
self.origin.clearTransform(self.platform)
def __init__(self,
name="MorselMOOS",
configFile="",
serverHost="localhost",
serverPort=9000,
commTick=10,
quiet=True,
**kargs):
Node.__init__(self, name, **kargs)
self.configFile = configFile
self.serverHost = serverHost
self.serverPort = serverPort
self.commTick = commTick
self.quiet = quiet
self.client = CMOOSClient(name, self.configFile, self.serverHost,
self.serverPort, self.commTick, self.quiet)
self.client.reparentTo(self)
framework.scheduler.addTask(name + "Receive", self.receive,
1.0 / self.client.getCommTick())
class Europa6DOFOdometry(Output):
def __init__(self, client = None, platform = None, message = "", **kargs):
super(Europa6DOFOdometry, self).__init__(**kargs)
self.client = client
self.platform = platform
self.message = message
self.publisher = CEuropa6DOFOdometry("CEuropa6DOFOdometry",
self.client.client, self.message)
self.publisher.reparentTo(self)
self.origin = Node("Origin", parent = self)
self.origin.clearTransform(self.platform)
#-------------------------------------------------------------------------------
def outputData(self, time):
position = self.platform.getPosition(self.origin)
orientation = self.platform.getOrientation(self.origin)
self.publisher.publish(time, framework.scheduler.frameTime,
panda.Vec3(*position), panda.Vec3(*orientation))
def __init__(self, name = None, log = None, masterUri = None,
namespace = None, frequency = 10.0, **kargs):
if not name:
name = ros.name
if not masterUri:
masterUri = ros.masterUri
if not log:
log = ros.log
if not namespace:
namespace = ros.namespace
Node.__init__(self, name, masterUri, **kargs)
self.masterUri = masterUri
self.log = log
self.namespace = namespace;
self.frequency = frequency;
self.node = CROSNode(name, self.masterUri, self.log, self.namespace)
self.node.reparentTo(self)
framework.scheduler.addTask(name+"Receive", self.receive,
1.0/self.frequency)
