def main():
rclpy.init()
node = ArucoNode()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
def main(args=None):
rclpy.init(args=args)
node = AttitudeController()
# rclpy.spin(node)
while rclpy.ok():
rclpy.spin_once(node)
node.destroy_node()
rclpy.shutdown()
def main():
ros_core = ros.IProc_Ros2Core()
node = TestDisplayNode()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
def main(args=None):
rclpy.init(args=args)
node = ReliableOdomNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
node.get_logger().info('ctrl-C detected, shutting down')
finally:
node.destroy_node()
rclpy.shutdown()
def main(args=None):
if args is not None and len(args) > 0:
prefix = args[0]
else:
prefix = "cs354_final"
rclpy.init(args=args)
node = VictimListener(prefix)
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
def main(args=None):
rclpy.init(args=args)
node = TestNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
node.destroy_node()
rclpy.shutdown()
def main(argv=sys.argv):
# Init rclpy and adapter
rclpy.init(args=argv)
adpt.init_rclcpp()
print(f"Starting fleet adapter...")
# ROS 2 node for the command handle
node = rclpy.node.Node('robot_command_handle')
node.declare_parameter("config_file", rclpy.Parameter.Type.STRING)
node.declare_parameter("nav_graph_file", rclpy.Parameter.Type.STRING)
arg_use_sim_time = node.get_parameter(
'use_sim_time').get_parameter_value().bool_value
assert arg_use_sim_time is not None
arg_config_path = node.get_parameter(
'config_file').get_parameter_value().string_value
assert arg_config_path is not None
arg_nav_graph_path = node.get_parameter(
'nav_graph_file').get_parameter_value().string_value
assert arg_nav_graph_path is not None
# Load config and nav graph yamls
with open(arg_config_path, "r") as f:
config_yaml = yaml.safe_load(f)
adapter, fleet_handle, robots = initialize_fleet(config_yaml,
arg_nav_graph_path, node,
arg_use_sim_time)
# Create executor for the command handle node
rclpy_executor = rclpy.executors.SingleThreadedExecutor()
rclpy_executor.add_node(node)
# Start the fleet adapter
rclpy_executor.spin()
# Shutdown
node.destroy_node()
rclpy_executor.shutdown()
rclpy.shutdown()
class NameMaker(rclpy.node.Node):
def __init__(self):
super().__init__('original_node_name', namespace='/original/namespace')
self._pubs = []
self._pubs.append(self.create_publisher(EmptyMsg, '~/private/name'))
self._pubs.append(self.create_publisher(EmptyMsg, 'relative/name'))
self._pubs.append(self.create_publisher(EmptyMsg, '/fully/qualified/name'))
self._srvs = []
self._srvs.append(self.create_service(EmptySrv, '~/private/name', lambda x: None))
self._srvs.append(self.create_service(EmptySrv, 'relative/name', lambda x: None))
self._srvs.append(self.create_service(EmptySrv, '/fully/qualified/name', lambda x: None))
if __name__ == '__main__':
rclpy.init()
node = NameMaker()
try:
rclpy.spin(node)
except KeyboardInterrupt:
print('Shutting down name_maker.py')
finally:
node.destroy_node()
rclpy.shutdown()
