def __init__(self):
for d in utils.get_axes():
self.state[d] = 0
self.hold[d] = 0
rospy.Subscriber(utils.get_pose_topic(d), Float64, self._on_state_received, d)
self.pub_pos[d] = rospy.Publisher(utils.get_pid_topic(d), Float64, queue_size=3)
self.pub_pos_enable[d] = rospy.Publisher(utils.get_pid_enable(d), Bool, queue_size=3)
self.pub_power[d] = rospy.Publisher(utils.get_power_topic(d), Float64, queue_size=3)
rospy.Subscriber(self.DESIRED_POSE_TOPIC, Pose, self._on_pose_received)
rospy.Subscriber(self.DESIRED_TWIST_POWER, Twist, self.on_powers_received)
def __init__(self):
self._pub_pose = {}
self._pub_twist = {}
for d in utils.get_axes():
self._pub_pose[d] = rospy.Publisher(utils.get_pose_topic(d),
Float64,
queue_size=3)
self._pub_twist[d] = rospy.Publisher(utils.get_twist_topic(d),
Float64,
queue_size=3)
rospy.init_node('state_republisher')
rospy.Subscriber(self.STATE_TOPIC, Odometry, self.receive_odometry)
rospy.spin()