def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = xv11(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher('odom',Odometry, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0,0]
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/ttyACM0")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = xv11(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan)
self.odomPub = rospy.Publisher('odom',Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0,0]
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = xv11(self.port)
rospy.Subscriber("pi_cmd", String, self.pi_command)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('scan', LaserScan)
self.odomPub = rospy.Publisher('odom', Odometry)
self.bumpPub = rospy.Publisher('bump', Bump)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_to_send = None
self.cmd_vel = [0, 0]
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.tf_prefix = rospy.get_param('~tf_prefix', "")
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = xv11(self.port)
rospy.Subscriber("pi_cmd",String,self.pi_command)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('scan', LaserScan)
self.odomPub = rospy.Publisher('odom',Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_to_send = None
self.cmd_vel = [0,0]
def __init__(self, device="/dev/ttyUSB0"):
VacuumInterface.__init__(self)
self.dev = device
self._xv11 = xv11(port=self.dev)
