color=Color.pickFromPalette(2),
transform=PyKDL.Frame(PyKDL.Vector(-2.0, 0, 0))
)
# Cone2 Frame
cone_2_frame = PyKDL.Frame(PyKDL.Vector(2.0, 0, 0))
while node.isActive():
# Update Cone2 Pose getting stored Object
cone_2_frame.M.DoRotZ(0.02)
scene.getObjectByName("cone2").setTransform(cone_2_frame)
# Update Cone1 Pose overwriting old Object
scene.createCone(name="cone1", transform=PyKDL.Frame(
PyKDL.Vector(
0.0,
0.0,
math.sin(1.0+2*math.pi*1.0*node.getCurrentTimeInSecs())
)
))
# Publish World Frame
node.broadcastTransform(PyKDL.Frame(), "world",
"base", node.getCurrentTime())
# Update Scene
scene.show()
# Node Forward
node.tick()
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
from superros.comm import RosNode
from std_msgs.msg import Float32
import math
node = RosNode("sin")
node.setHz(node.setupParameter("hz", 30))
node.createPublisher("in", Float32)
node.createPublisher("in2", Float32)
node.createPublisher("in3", Float32)
while node.isActive():
data = Float32(math.sin(2 * 3.14 * 1.0 * node.getCurrentTimeInSecs()))
data2 = Float32(math.sin(2 * 3.14 * 2.0 * node.getCurrentTimeInSecs()))
data3 = Float32(math.sin(2 * 3.14 * 3.0 * node.getCurrentTimeInSecs()))
node.getPublisher("in").publish(data)
node.getPublisher("in2").publish(data2)
node.getPublisher("in3").publish(data3)
node.tick()
#!/usr/bin/env python
# -*- encoding: utf-8 -*-
from superros.comm import RosNode
from std_msgs.msg import Float32
import math
node = RosNode("math_publisher_sin")
node.setHz(node.setupParameter("hz", 30))
topic_name = node.setupParameter("topic_name", "math_publisher_sin")
frequency = node.setupParameter("frequency", 1.0)
node.createPublisher(topic_name, Float32)
while node.isActive():
data = Float32(
math.sin(2 * math.pi * frequency * node.getCurrentTimeInSecs()))
node.getPublisher(topic_name).publish(data)
node.tick()