def main():
vel_pub = rospy.Publisher('/dtw_robot1/diff_drive_controller/cmd_vel',
Twist,
queue_size=10)
vel = Twist()
pub = rospy.Publisher('chatter3', some_position, queue_size=10) #zahyou
pub2 = rospy.Publisher('chatter1', some_position2, queue_size=10) #class
#rospy.init_node('talker3', anonymous=True)
#rospy.Subscriber('ros_lecture_msgs', Custom2 , queue_size=1)
#area_sub = rospy.Subscriber('ros_lecture_msgs', Custom2, queue_size=1)
#fps=10
#delay=1/fps
#ts = message_filters.ApproximateTimeSynchronizer([sub1,sub2],10,delay)
#ts.callback_lambda = lambda x: callback(x, vel, vel_pub)
msg = some_position()
msg2 = some_position2()
callback_lambda = lambda x: callback(x, vel, vel_pub, msg, pub, msg2, pub2)
while not rospy.is_shutdown():
rospy.init_node('listener', anonymous=True)
#rospy.init_node('kyolo_topic')
#sub1=rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes , callback_lambda)
#sub2=rospy.Subscriber('ros_lecture_msgs', Custom2, callback_lambda)
rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes,
callback_lambda)
#rospy.Subscriber('ros_lecture_msgs', Custom2, callback_lambda)
rospy.spin()
def calculate(request):
rospy.loginfo('called!')
rospy.loginfo(request)
#rospy.loginfo(request.a)
#rospy.loginfo(request.b)
#rospy.loginfo(request.words.split())
#rospy.loginfo(len(request.words.split()))
#result = request.a + request.b
#position = [sub.position]
position = [1, 1, 1]
Class = 'Process End!!' #'Detect Started!!'
#print sub.position
#print sub.Class
pub = rospy.Publisher('chatter3', some_position, queue_size=10)
r = rospy.Rate(10) # 10hz
#while not rospy.is_shutdown():
for num in range(101):
msg = some_position()
msg.header.stamp = rospy.Time.now()
msg.position = [7, 8, 9]
pub.publish(msg)
r.sleep()
return KyoloResponse(position, Class)
def __init__(self):
self._vel_pub = rospy.Publisher('/dtw_robot1/diff_drive_controller/cmd_vel', Twist, queue_size=10)
self._blue_pub = rospy.Publisher('blue_image', Image, queue_size=20)
self._red_pub = rospy.Publisher('red_image', Image, queue_size=20)
self._area_pub = rospy.Publisher('chatter2', some_position, queue_size=10)
self._image_sub = rospy.Subscriber('camera/rgb/image_raw', Image, self.callback)
self._yolo_sub = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes , self.call)
self._bridge = CvBridge()
self._vel = Twist()
self._msg = some_position()
def talker():
#チュートリアルのコードからメッセージの型だけ変えてある
pub = rospy.Publisher('chatter2', some_position, queue_size=10)
rospy.init_node('talker2', anonymous=True)
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
msg = some_position()
#rospyでheaderにタイムスタンプを入れる
msg.header.stamp = rospy.Time.now()
#適当なデータ
msg.position = [4, 5, 6]
pub.publish(msg)
r.sleep()
def calculate(request):
rospy.loginfo('called!')
rospy.loginfo('Detect start...')
position = [1, 1, 1]
Class = 'Process Started' #'Process End!!'#'Detect Started!!'
pub = rospy.Publisher('chatter6', some_position, queue_size=10)
r = rospy.Rate(10) # 10hz
for num in range(10):
msg = some_position()
msg.header.stamp = rospy.Time.now()
msg.position = [7, 8, 9]
pub.publish(msg)
#r.sleep()
ts = message_filters.ApproximateTimeSynchronizer([sub1, sub2], 10, delay)
ts.registerCallback(callback)
return KyoloResponse(position, Class)
def __init__(self):
self._vel_pub = rospy.Publisher(
'/dtw_robot1/diff_drive_controller/cmd_vel', Twist, queue_size=10)
self._blue_pub = rospy.Publisher('blue_image', Image, queue_size=1)
self._red_pub = rospy.Publisher('red_image', Image, queue_size=1)
#self._area_pub = rospy.Publisher('ros_lecture_msgs', Custom2, queue_size=1)
#self._area_pub = rospy.Publisher('chatter4', some_position, queue_size=10)
self._area_pub = rospy.Publisher('chatter2',
some_position,
queue_size=10)
#self._image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.callback)
#self._image_sub = rospy.Subscriber('/darknet_ros/detection_image', Image, self.callback)
self._image_sub = rospy.Subscriber('/dtw_robot1/head_camera/image_raw',
Image, self.callback)
self._bridge = CvBridge()
self._vel = Twist()
self._msg = some_position()
def talker():
#チュートリアルのコードからメッセージの型だけ変えてある
#pub = rospy.Publisher('ros_lecture_msgs', Custom2, queue_size=10)
pub = rospy.Publisher('chatter4', some_position, queue_size=10)
rospy.init_node('talker4', anonymous=True)
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
#msg = Custom2()
msg = some_position()
#rospyでheaderにタイムスタンプを入れる
msg.header.stamp = rospy.Time.now()
#適当なデータ
msg.position = [7.5, 8.5, 9.5]
pub.publish(msg)
r.sleep()
def __init__(self):
# cv_bridge handles
self.cv_bridge = CvBridge()
self.person_bbox = BoundingBox()
# ROS PARAM
self.m_pub_threshold = rospy.get_param('~pub_threshold', 0.40)
# Subscribe
sub_camera_rgb = rospy.Subscriber('/camera/rgb/image_raw', Image,
self.CamRgbImageCallback)
sub_camera_depth = rospy.Subscriber('/camera/depth/image_raw', Image,
self.CamDepthImageCallback)
sub_darknet_bbox = rospy.Subscriber('/darknet_ros/bounding_boxes',
BoundingBoxes,
self.DarknetBboxCallback)
self._pub = rospy.Publisher('depth', some_position, queue_size=10)
self._msg = some_position()
return
