def __init__(self):
self.node_name = 'cv_bridge_demo'
rospy.init_node(self.node_name)
#what we do during shutdown
rospy.on_shutdown(self.cleanup)
#create the opencv display window for the rgb image
self.cv_window_name = self.node_name
cv.NamedWindow(self.cv_window_name,cv.CV_WINDOW_NORMAL)
cv.MoveWindow(self.cv_window_name,25,75)
# and one for the depth image
cv.NamedWindow("depth image",cv.CV_WINDOW_NORMAL)
cv.MoveWindow('depth image',25,300)
# create the cv_bridge object
self.bridge = CvBridge()
# subscribe to the camera image and depth topics and set
# the appropriate callbacks
self.image_sub = rospy.Subscriber('/camera/rgb/image_color',Image,self.image_callback)
self.depth_sub = rospy.Subcriber('/camera/depth_registered/image_rect',Image,self.depth_callback)
rospy.loginfo("waiting for the image topics...")
def mission():
desired_publisher = rospy.Publisher('borbcat/desired', State, queue_size=1)
current_publisher = rospy.Publisher('borbcat/state', State, queue_size=1)
rospy.Subscriber('sensors/imu', Imu, imu_callback)
rospy.Subcriber('sensors/depth', Depth, depth_callback)
desired_msg = State()
desired_msg.header.seq = 0
desired_msg.header.timestamp = rospy.get_rostime()
current_msg = State()
current_msg.header.seq = 0
current_msg.header.timestamp = rospy.get_rostime()
rate = rospy.Rate(10)
while not rospy.is_shutdown():
desired_msg.state = [0, 0, 0, 0, 0, 0]
desired_msg.header.seq += 1
desired_msg.header.timestamp = rospy.get_rostime()
desired_publisher.publish(desired_msg)
current_publisher.publish(current_msg)
rate.sleep()
def __init__(self, mbed):
self.mbed = mbed
self.finger_state_sub = rospy.Subscriber("/finger_state", UInt8MultiArray, self.finger)
self.pose_sub = rospy.Subcriber("/adjusted_pose", PoseStamped, self.pose)
self.cmd = {"finger":0x0a, "pose":0x0b}
def inicializar(self):
receptor = rospy.Subcriber(
"angulos", Int8MultiArray,
actualizarValoresServos) #se crea el suscriptor del topic
rospy.spin()
#caffemodel = os.path.join(cfg.DATA_DIR, 'faster_rcnn_models',
# NETS[args.demo_net][1])
if not os.path.isfile(caffemodel):
raise IOError(('{:s} not found.\nDid you run ./data/script/'
'fetch_faster_rcnn_models.sh?').format(caffemodel))
if args.cpu_mode:
caffe.set_mode_cpu()
else:
caffe.set_mode_gpu()
caffe.set_device(args.gpu_id)
cfg.GPU_ID = args.gpu_id
net = caffe.Net(prototxt, caffemodel, caffe.TEST)
print '\n\nLoaded network {:s}'.format(caffemodel)
# Warmup on a dummy image
im = 128 * np.ones((300, 500, 3), dtype=np.uint8)
for i in xrange(2):
_, _ = im_detect(net, im)
roi_pub = rospy.Publisher('fasterrcnn', output, queue_size=100)
rawimage_sub = rospy.Subcriber("/camera/rgb/image_raw", Image, rawCallback)
rospy.init_node('fasterrcnn', anonymous=True)
while cv_frame == None:
rospy.spinonce()
demo(net, cv_frame, roi_pub)
plt.show()
rate = rospy.Rate(10)
while fabs(goal.orientation-actuator.position())>0.01:
if a.is_preempt_requested():
success = False
break
feedback.current_orientation = actuator.position()
a.publish_feedback(feedback)
rate.sleep()
result.final_orientation = actuator.position()
if success:
a.set_succeeded(result)
else:
a.set_preempted(result)
if __name__ == '__main__'：
actuator = FakeActuator()
# initialize the node
rospy.init_node('fake')
# topic for the volume
t = rospy.Subcriber('fake/volume',Float32,volume_callback)
# service for the light
s = rospy.Service('fake/light',Light,light_callback)
# Action for the position
a = actionlib.SimpleActionServer('fake/position',RotationAction,exxcute_cb = rotation_callback,False)
a.start()
# start everything
rospy.spin()
def __init__(self):
self.laserProj = LaserProjection()
self.pcPub = rospy.Publisher("/laserPointCloud", pc2, queue_size = 1)
self.laserSub = rospy.Subcriber("/scan", LaserScan, self.laserCallback)