def test():
topic = rospy.Publisher('shifter/cmd', Shifter)
rospy.Subscriber('shifter/state', Shifter, log_shifter_state)
rospy.init_node('test_shifter')
rospy.loginfo('starting shifter test')
# initially reset shifter
cmd = Shifter() # shifter message
cmd.gear = Shifter.Park
reset_cmd = Shifter() # reset shifter message
reset_cmd.gear = Shifter.Reset
while not rospy.is_shutdown():
if cmd.gear > Shifter.Drive:
cmd.gear = Shifter.Park
# shift to next gear
topic.publish(cmd)
log_shifter_cmd(cmd)
cmd.gear += 1
rospy.sleep(1.0) # only change once a second
# reset shifter
topic.publish(reset_cmd)
log_shifter_cmd(reset_cmd)
rospy.sleep(1.0) # only change once a second
def shift(gear):
"shift transmission to desired gear"
topic = rospy.Publisher('shifter/cmd', Shifter)
rospy.Subscriber('shifter/state', Shifter, shifter_state_update)
rospy.init_node('shift')
rospy.loginfo('Shifting transmission into ' + gear_name)
# initially reset shifter
cmd = Shifter() # shifter message
cmd.gear = gear
log_shifter_cmd(cmd)
topic.publish(cmd)
# The Arens Controls hardware mechanism requires holding the shift
# relay on for one second before resetting it.
rospy.sleep(1.0) # wait a second
# TODO: Make sure the shift actually occurred before continuing.
# The command could possibly have been lost. This version depends
# on the user to notice if anything went wrong.
#
# Moreover, this script might as well not bother to send a command
# if the transmission was already in the desired gear.
reset_cmd = Shifter() # reset shifter relay message
reset_cmd.gear = Shifter.Reset
log_shifter_cmd(reset_cmd)
topic.publish(reset_cmd)
rospy.sleep(1.0) # wait another second
rospy.loginfo('Finished shifting transmission')
def test():
topic = rospy.Publisher('shifter/cmd', Shifter)
rospy.Subscriber('shifter/state', Shifter, log_shifter_state)
rospy.init_node('test_shifter')
rospy.loginfo('starting shifter test')
# initially reset shifter
cmd = Shifter() # shifter message
cmd.gear = Shifter.Park
reset_cmd = Shifter() # reset shifter message
reset_cmd.gear = Shifter.Reset
while not rospy.is_shutdown():
if cmd.gear > Shifter.Drive:
cmd.gear = Shifter.Park
# shift to next gear
topic.publish(cmd)
log_shifter_cmd(cmd)
cmd.gear += 1
rospy.sleep(1.0) # only change once a second
# reset shifter
topic.publish(reset_cmd)
log_shifter_cmd(reset_cmd)
rospy.sleep(1.0) # only change once a second
def shift(gear):
"shift transmission to desired gear"
topic = rospy.Publisher('shifter/cmd', Shifter)
rospy.Subscriber('shifter/state', Shifter, shifter_state_update)
rospy.init_node('shift')
rospy.loginfo('Shifting transmission into ' + gear_name)
# initially reset shifter
cmd = Shifter() # shifter message
cmd.gear = gear
log_shifter_cmd(cmd)
topic.publish(cmd)
# The Arens Controls hardware mechanism requires holding the shift
# relay on for one second before resetting it.
rospy.sleep(1.0) # wait a second
# TODO: Make sure the shift actually occurred before continuing.
# The command could possibly have been lost. This version depends
# on the user to notice if anything went wrong.
#
# Moreover, this script might as well not bother to send a command
# if the transmission was already in the desired gear.
reset_cmd = Shifter() # reset shifter relay message
reset_cmd.gear = Shifter.Reset
log_shifter_cmd(reset_cmd)
topic.publish(reset_cmd)
rospy.sleep(1.0) # wait another second
rospy.loginfo('Finished shifting transmission')
