continue
if styleData.s == "stop":
ser(0, 0, 0)
elif styleData.s == "go":
ser(300, 0, 0)
elif styleData.s == "goRight":
ser(200, 0, 0 - 150)
elif styleData.s == "goLeft":
ser(200, 0, 150)
elif styleData.s == "right":
ser(0, 0, 0 - 200)
elif styleData.s == "left":
ser(0, 0, 200)
elif styleData.s == "back":
ser(-200, 0, 0)
rospy.sleep(0.5)
if __name__ == "__main__":
rospy.init_node("kinect_move")
ser = rospy.ServiceProxy("/hc_motor_cmd/vector_speed", VectorSpeed)
scanData = list()
styleData = Follow()
scan_pub = rospy.Subscriber("/scan", LaserScan, run1)
point_pub = rospy.Subscriber("/Kinect/Follow_point", Follow, run2)
follow_pub()
rospy.spin()
from bitathome_remote_control.msg import Follow
import socket
import traceback
import math
port = 23333 # server port
links = 1 # max link
if __name__ == '__main__':
follow_pub = rospy.Publisher('Kinect/Follow_point', Follow, queue_size=10)
rospy.init_node('netPublisher', anonymous=True)
rate = rospy.Rate(30)
rospy.loginfo("Initializing socket...")
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('', port))
rospy.loginfo("Ready!")
while not rospy.is_shutdown():
try:
buf,(r_ip, r_port) = sock.recvfrom(1024)
print(buf, r_ip, r_port)
buf = buf.split(" ")
ret = Follow()
ret.s = buf[0]
follow_pub.publish(ret)
except Exception,ex:
rospy.logerr("Exception!")
print(ex)
traceback.print_exc()
from bitathome_remote_control.msg import Follow
port = 23333 # server port
links = 1 # max link
if __name__ == '__main__':
speak_pub = rospy.Publisher('/speak', Follow, queue_size=10)
rospy.init_node('netPublisher', anonymous=True)
rate = rospy.Rate(30)
rospy.loginfo("Initializing socket...")
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('', port))
rospy.loginfo("Ready!")
while not rospy.is_shutdown():
try:
buf,(r_ip, r_port) = sock.recvfrom(1024)
print(buf, r_ip, r_port)
buf = buf.split(" ")
ret = Follow()
ret.s = ""
for i in buf:
ret.s += i + ", "
print ret.s
speak_pub.publish(ret)
except Exception,ex:
rospy.logerr("Exception!")
print(ex)
traceback.print_exc()
while not rospy.is_shutdown():
try:
buf, (r_ip, r_port) = sock.recvfrom(1024)
print(buf, r_ip, r_port)
buf = buf.split(" ")
if buf[0] == "object":
things[count] = buf[1]
say_ser(buf[1] + " ,right?")
elif buf[0] == "get":
if things[0] == buf[1]:
rem = 0
else:
rem = 1
say_ser("Do you need " + buf[1] + "?")
elif buf[0] == "stop1":
ret = Follow()
ret.s = "stop"
shopping_pub.publish(ret)
say_ser("Why stop me?")
key = False
elif buf[0] == "yes1" or buf[0] == "yes2":
ret = Follow()
ret.s = "save"
shopping_pub.publish(ret)
say_ser("OK, I remember.")
rospy.sleep(3)
key = True
count += 1
elif buf[0] == "no":
say_ser("Could you tell me again?")
elif key:
elif buf[0] == "pos":
ret = Point()
ret.x = float(buf[1])
ret.y = float(buf[2])
ret.z = 0.0
wiw_pub.publish(ret)
elif buf[0] == "name":
say_ser("Are you " + buf[1] + "?") # say Is your name ...
elif buf[0] == "object":
say_ser("Do you need " + buf[1] + "?")
elif buf[0] == "yes1":
say_ser("I remember you.") # say i remember you
say_ser("What do you need?")
elif buf[0] == "yes2":
say_ser("I remember it.")
ret = Follow()
ret.s = "yes"
follow_pub.publish(ret)
rospy.sleep(3)
elif buf[0] == "no":
say_ser("Could you please tell me again?"
) # say can you speak your name again
elif buf[0] == "go":
ret = Follow()
ret.s = "go"
follow_pub.publish(ret)
except Exception, ex:
rospy.logerr("Exception!")
print(ex)
traceback.print_exc()
while not rospy.is_shutdown():
try:
buf,(r_ip, r_port) = sock.recvfrom(1024)
print(buf, r_ip, r_port)
buf = buf.split(" ")
if buf[0] == "object":
things[count] = buf[1]
say_ser(buf[1] + " ,right?")
elif buf[0] == "get":
if things[0] == buf[1]:
rem = 0
else:
rem = 1
say_ser("Do you need " + buf[1] + "?")
elif buf[0] == "stop1":
ret = Follow()
ret.s = "stop"
shopping_pub.publish(ret)
say_ser("Why stop me?")
key = False
elif buf[0] == "yes1" or buf[0] == "yes2":
ret = Follow()
ret.s = "save"
shopping_pub.publish(ret)
say_ser("OK, I remember.")
rospy.sleep(3)
key = True
count += 1
elif buf[0] == "no":
say_ser("Could you tell me again?")
elif key:
import traceback
from bitathome_remote_control.msg import Follow
port = 23333 # server port
links = 1 # max link
if __name__ == '__main__':
speak_pub = rospy.Publisher('/speak', Follow, queue_size=10)
rospy.init_node('netPublisher', anonymous=True)
rate = rospy.Rate(30)
rospy.loginfo("Initializing socket...")
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('', port))
rospy.loginfo("Ready!")
while not rospy.is_shutdown():
try:
buf, (r_ip, r_port) = sock.recvfrom(1024)
print(buf, r_ip, r_port)
buf = buf.split(" ")
ret = Follow()
ret.s = ""
for i in buf:
ret.s += i + ", "
print ret.s
speak_pub.publish(ret)
except Exception, ex:
rospy.logerr("Exception!")
print(ex)
traceback.print_exc()
