def main():
port = 5018
name = 'heartbeat'
rate = 2 # Hz
rospy.init_node('read_heartbeat', anonymous=False)
publisher = rospy.Publisher(name, Header, queue_size=3)
heartbeat = TopicPublisher(port, name, publisher, rate)
heartbeat.go()
def main():
port = 5032
name = 'front_camera'
rate = 2 # Hz
rospy.init_node('read_front_camera', anonymous=False)
publisher = rospy.Publisher(name, Image, queue_size=4)
wheel_velocity = TopicPublisher(port, name, publisher, rate)
wheel_velocity.go()
def main():
port = 5020
name = 'IMU_ned'
rate = 30 # Hz
rospy.init_node('read_imu', anonymous=False)
publisher = rospy.Publisher(name, Imu, queue_size=5)
heartbeat = TopicPublisher(port, name, publisher, rate)
heartbeat.go()
def main():
port = 5021
name = 'fix'
rate = 1 # Hz
rospy.init_node('read_gps', anonymous=False)
publisher = rospy.Publisher(name, NavSatFix, queue_size=3)
gps = TopicPublisher(port, name, publisher, rate)
gps.go()