def sendLEDs():
led = Led()
if (stopMode):
led.value = 3
else:
led.value = 1
pubLED.publish(led)
def light(self):
"""
Flashes the light on the robot (useful for checking connection or for raves)
"""
#r: var used to control the flashing frequenzy in hz
# cmd: data structure for the led() information, for more information refer to msg docs on Led()
#create a publisher which talks to the lights
#rate at chich to publish
r = rospy.Rate(10);
#create the message to the node
cmd = Led()
#set value
cmd.value = 1
t = 10
while not rospy.is_shutdown() and t > 0:
cmd.value = 1
#publish the message
self.led1.publish(cmd)
rospy.loginfo("published the info to the node")
r.sleep()
cmd.value = 3
self.led1.publish(cmd)
r.sleep()
t = t-1
rospy.sleep(1)
def mitsos():
pub = rospy.Publisher('/mobile_base/commands/led1', Led, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
rate1 = rospy.Rate(1)
while not rospy.is_shutdown():
z=0
while z < 5:
ledstate = Led()
ledstate.value = 1
pub.publish(ledstate)
z += 0.1
print(z)
rate.sleep()
y=0
while y < 5:
ledstate = Led()
ledstate.value = 0
pub.publish(ledstate)
y += 0.5
print(y)
rate1.sleep()
def cleanUp():
global currentCommand
currentCommand.linear.x = 0.0
currentCommand.angular.z = 0.0
led = Led()
led.value = 0
pubLED.publish(led)
pub.publish(currentCommand)
rospy.sleep(1)
def callback(data):
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.linear)
pub = rospy.Publisher('/mobile_base/commands/led1', Led, queue_size=10)
print "L I N E A R"
print data.linear.x
if data.linear.x == 0.1:
ledstate = Led()
ledstate.value = 1
ledstate.value = 2
pub.publish(ledstate)
else:
ledstate = Led()
ledstate.value = 0
pub.publish(ledstate)
def sendLEDs():
rospy.init_node('leds_sender', anonymous=True)
pub1 = rospy.Publisher('/mobile_base/commands/led1', Led, queue_size=10)
pub2 = rospy.Publisher('/mobile_base/commands/led2', Led, queue_size=10)
while pub1.get_num_connections() == 0 or pub2.get_num_connections() == 0:
pass
led = Led()
x = 3
while x != -1:
led.value = x
pub1.publish(led)
x = x - 1
rospy.sleep(1)
x = 3
while x != -1:
led.value = x
pub2.publish(led)
x = x - 1
rospy.sleep(1)
def ledUpdate(value):
global pub_led1
led = Led()
led.value = value
pub_led1.publish(value)
def disable_LEDs(self): msg = Led() msg.value = Led.BLACK for pub in self.led_publishers: pub.publish(msg)
def enable_LEDs(self): msg = Led() msg.value = Led.GREEN for pub in self.led_publishers: pub.publish(msg)
def disable_LEDs(self):
msg = Led()
msg.value = Led.BLACK
for pub in self.led_publishers:
pub.publish(msg)
def enable_LEDs(self):
msg = Led()
msg.value = Led.GREEN
for pub in self.led_publishers:
pub.publish(msg)
#!/usr/bin/env python
import rospy
from kobuki_msgs.msg import Led
if __name__ == '__main__':
rospy.init_node("checkpoint1_3_2_led_python", anonymous=True)
pub = rospy.Publisher("/mobile_base/commands/led1", Led, queue_size=1)
rospy.sleep(1)
msg = Led()
for i in range(3):
msg.value = i + 1
rospy.loginfo("publish msg [value: %d]" % (msg.value))
pub.publish(msg)
rospy.sleep(1)
msg.value = 0
rospy.loginfo("publish msg [value: %d]" % (msg.value))
pub.publish(msg)
print goal
rospy.wait_for_service('goal_nav_service')
driveToGoal = rospy.ServiceProxy('goal_nav_service', GoToGoal)
response = driveToGoal(goal[0], goal[1])
if (response.status == 0):
break
print "done with current frontier"
preexplorationMove()
print "identifying new frontiers"
frontiersList = identifyFrontiers()
#call("spd-say 'I'm done.'");
i = 1
ledmsg = Led()
while (not rospy.is_shutdown()):
print "DONE EXPLORING"
if ((i % 2) == 0):
ledmsg.value = 0
else:
ledmsg.value = (i + 1) / 2
i += 1
i = i % 6
led1Pub.publish(ledmsg)
led2Pub.publish(ledmsg)
time.sleep(0.5)
ledmsg.value = 0
led1Pub.publish(ledmsg)
led2Pub.publish(ledmsg)
print goal
rospy.wait_for_service('goal_nav_service')
driveToGoal = rospy.ServiceProxy('goal_nav_service', GoToGoal)
response = driveToGoal(goal[0], goal[1])
if (response.status == 0):
break
print "done with current frontier"
preexplorationMove()
print "identifying new frontiers"
frontiersList = identifyFrontiers()
#call("spd-say 'I'm done.'");
i = 1
ledmsg = Led()
while (not rospy.is_shutdown()):
print "DONE EXPLORING"
if ((i%2) == 0):
ledmsg.value = 0
else:
ledmsg.value = (i+1)/2
i += 1
i = i%6
led1Pub.publish(ledmsg)
led2Pub.publish(ledmsg)
time.sleep(0.5)
ledmsg.value = 0
led1Pub.publish(ledmsg)
led2Pub.publish(ledmsg)