def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " % (self.node_name))
self.car_like_mode = self.setupParam("~car_like_mode", True)
# Setup publishers
self.dagu = DAGU_Differential_Drive(car_like_mode=self.car_like_mode)
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
self.control_msg = None
# self.control_msg = CarControl()
# self.control_msg.speed = 0.0
# self.control_msg.steering = 0.0
# Setup subscribers
self.sub_topic = rospy.Subscriber("~car_control", CarControl,
self.cbControl)
# Create a timer that calls the cbTimer function every 1.0 second
self.timer = rospy.Timer(rospy.Duration.from_sec(0.02), self.cbTimer)
self.last_cmd = None
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " %(self.node_name))
self.car_like_mode = self.setupParam("~car_like_mode",True)
# Setup publishers
self.dagu = DAGU_Differential_Drive(car_like_mode=self.car_like_mode)
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
self.control_msg = None
# self.control_msg = CarControl()
# self.control_msg.speed = 0.0
# self.control_msg.steering = 0.0
# Setup subscribers
self.sub_topic = rospy.Subscriber("~car_control", CarControl, self.cbControl)
# Create a timer that calls the cbTimer function every 1.0 second
self.timer = rospy.Timer(rospy.Duration.from_sec(0.02),self.cbTimer)
self.last_cmd = None
class DaguCar(object):
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " %(self.node_name))
self.car_like_mode = self.setupParam("~car_like_mode",True)
# Setup publishers
self.dagu = DAGU_Differential_Drive(car_like_mode=self.car_like_mode)
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
self.control_msg = None
# self.control_msg = CarControl()
# self.control_msg.speed = 0.0
# self.control_msg.steering = 0.0
# Setup subscribers
self.sub_topic = rospy.Subscriber("~car_control", CarControl, self.cbControl)
# Create a timer that calls the cbTimer function every 1.0 second
self.timer = rospy.Timer(rospy.Duration.from_sec(0.02),self.cbTimer)
self.last_cmd = None
def setupParam(self,param_name,default_value):
value = rospy.get_param(param_name,default_value)
rospy.set_param(param_name,value) #Write to parameter server for transparancy
rospy.loginfo("[%s] %s = %s " %(self.node_name,param_name,value))
return value
def cbControl(self,msg):
self.control_msg = msg
def cbTimer(self,event):
if self.control_msg is None:
return
speed = self.control_msg.speed
steer = self.control_msg.steering
values = (speed, steer)
# do not publish redundant values
if self.last_cmd is not None:
if values == (self.last_cmd.speed,self.last_cmd.steering):
delta = event.current_real - self.last_cmd.header.stamp
# unless 2 seconds elapsed
if delta.to_sec() < 2.0:
return
self.dagu.setSpeed(speed)
self.dagu.setSteerAngle(steer)
self.last_cmd = self.control_msg
def on_shutdown(self):
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
rospy.loginfo("[DaguCar] Shutting down.")
class DaguCar(object):
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " % (self.node_name))
self.car_like_mode = self.setupParam("~car_like_mode", True)
# Setup publishers
self.dagu = DAGU_Differential_Drive(car_like_mode=self.car_like_mode)
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
self.control_msg = None
# self.control_msg = CarControl()
# self.control_msg.speed = 0.0
# self.control_msg.steering = 0.0
# Setup subscribers
self.sub_topic = rospy.Subscriber("~car_control", CarControl,
self.cbControl)
# Create a timer that calls the cbTimer function every 1.0 second
self.timer = rospy.Timer(rospy.Duration.from_sec(0.02), self.cbTimer)
self.last_cmd = None
def setupParam(self, param_name, default_value):
value = rospy.get_param(param_name, default_value)
rospy.set_param(param_name,
value) #Write to parameter server for transparancy
rospy.loginfo("[%s] %s = %s " % (self.node_name, param_name, value))
return value
def cbControl(self, msg):
self.control_msg = msg
def cbTimer(self, event):
if self.control_msg is None:
return
speed = self.control_msg.speed
steer = self.control_msg.steering
values = (speed, steer)
# do not publish redundant values
if self.last_cmd is not None:
if values == (self.last_cmd.speed, self.last_cmd.steering):
delta = event.current_real - self.last_cmd.header.stamp
# unless 2 seconds elapsed
if delta.to_sec() < 2.0:
return
self.dagu.setSpeed(speed)
self.dagu.setSteerAngle(steer)
self.last_cmd = self.control_msg
def on_shutdown(self):
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
rospy.loginfo("[DaguCar] Shutting down.")
