def __init__(self): rospy.init_node("max_sonar") self.sensor = maxSonar() # start channel broadcast using SetupAnalogIn rospy.wait_for_service('arbotix/SetupAnalogIn') analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) req = SetupChannelRequest() req.topic_name = rospy.get_param("~name") req.pin = rospy.get_param("~pin") req.rate = int(rospy.get_param("~rate",10)) analog_srv(req) # setup a range message to use self.msg = Range() self.msg.radiation_type = self.sensor.radiation_type self.msg.field_of_view = self.sensor.field_of_view self.msg.min_range = self.sensor.min_range self.msg.max_range = self.sensor.max_range # publish/subscribe self.pub = rospy.Publisher("sonar_range", Range) rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb) rospy.spin()
def __init__(self): rospy.init_node("ir_ranger") # sensor type: choices are A710YK (40-216"), A02YK (8-60"), A21YK (4-30") self.sensor_t = rospy.get_param("~type","GP2D12") if self.sensor_t == "A710YK" or self.sensor_t == "ultralong": self.sensor = gpA710YK() elif self.sensor_t == "A02YK" or self.sensor_t == "long": self.sensor = gpA02YK() else: self.sensor = gp2d12() # start channel broadcast using SetupAnalogIn rospy.wait_for_service('arbotix/SetupAnalogIn') analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) req = SetupChannelRequest() req.topic_name = rospy.get_param("~name") req.pin = rospy.get_param("~pin") req.rate = int(rospy.get_param("~rate",10)) analog_srv(req) # setup a range message to use self.msg = Range() self.msg.radiation_type = self.sensor.radiation_type self.msg.field_of_view = self.sensor.field_of_view self.msg.min_range = self.sensor.min_range self.msg.max_range = self.sensor.max_range # publish/subscribe self.pub = rospy.Publisher("ir_range", Range) rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb) rospy.spin()
def __init__(self): rospy.init_node("ir_ranger") # sensor type: choices are A710YK (40-216"), A02YK (8-60"), A21YK (4-30") self.sensor_t = rospy.get_param("~type", "GP2D12") if self.sensor_t == "A710YK" or self.sensor_t == "ultralong": self.sensor = gpA710YK() elif self.sensor_t == "A02YK" or self.sensor_t == "long": self.sensor = gpA02YK() else: self.sensor = gp2d12() # start channel broadcast using SetupAnalogIn rospy.wait_for_service('arbotix/SetupAnalogIn') analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) req = SetupChannelRequest() req.topic_name = rospy.get_param("~name") req.pin = rospy.get_param("~pin") req.rate = int(rospy.get_param("~rate", 10)) analog_srv(req) # setup a range message to use self.msg = Range() self.msg.radiation_type = self.sensor.radiation_type self.msg.field_of_view = self.sensor.field_of_view self.msg.min_range = self.sensor.min_range self.msg.max_range = self.sensor.max_range # publish/subscribe self.pub = rospy.Publisher("ir_range", Range, queue_size=5) rospy.Subscriber("arbotix/" + req.topic_name, Analog, self.readingCb) rospy.spin()
def __init__(self): rospy.init_node("max_sonar") self.sensor = maxSonar() # start channel broadcast using SetupAnalogIn rospy.wait_for_service('arbotix/SetupAnalogIn') analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) req = SetupChannelRequest() req.topic_name = rospy.get_param("~name") req.pin = rospy.get_param("~pin") req.rate = int(rospy.get_param("~rate", 10)) analog_srv(req) # setup a range message to use self.msg = Range() self.msg.radiation_type = self.sensor.radiation_type self.msg.field_of_view = self.sensor.field_of_view self.msg.min_range = self.sensor.min_range self.msg.max_range = self.sensor.max_range # publish/subscribe self.pub = rospy.Publisher("sonar_range", Range, queue_size=5) rospy.Subscriber("arbotix/" + req.topic_name, Analog, self.readingCb) rospy.spin()