def main():
if len(sys.argv) != 3:
print "Usage: " + sys.argv[0] + " <rdis-file> <serial-port>"
sys.exit(1)
print "Starting up RDIS..."
global gModel
gModel = rdis.load( sys.argv[1] )
gModel.setCallback(rdisCallback)
gModel.startup(port=sys.argv[2])
## FIELD FROM NODE NAME IN ROS FORMALISM
rospy.init_node('rdisWanderer', anonymous=True)
## AUTO-GENERATED PUBLISH/SUBSCRIBE STATEMENTS.
## CREATES LOCAL VARIABLE FOR EACH PUBLISHER.
rospy.Subscriber('setSpeed',Twist,setSpeed_callback)
registerPublisher('detect_bump', rospy.Publisher('hitObject', Bool), publish_hitObject)
while not rospy.is_shutdown():
## Lets model know a thread tick has passed. Internal
## timers will govern whether or not it is time to call
## any periodic interfaces.
gModel.tick()
## Loop at 40.0 Hz
## TODO: Draw from threading object.
rospy.sleep(1.0 / 40.0)
gModel.terminate()
def main():
if len(sys.argv) != 3:
print "Usage: " + sys.argv[0] + " <rdis-file> <serial-port>"
sys.exit(1)
print "Starting up RDIS..."
global gModel
gModel = rdis.load( sys.argv[1] )
gModel.setCallback(rdisCallback)
gModel.startup(port=sys.argv[2])
## FIELD FROM NODE NAME IN ROS FORMALISM
rospy.init_node('{nodeName}', anonymous=True)