class ROS_ArmServer():
'''Provides ROS topics for controlling a maplin arm'''
def __init__(self):
# Start the node
rospy.init_node('armDriver', anonymous=True)
self.armDriver = ArmDriver()
# Setup topics so that users can control the motors
self.setArmMotorStatesTopic = rospy.Subscriber(
"setArmMotorStates", maplin_arm.msg.SetMotorStates,
self.setArmMotorStatesCallback)
#---------------------------------------------------------------------------
def update(self):
self.armDriver.update()
#---------------------------------------------------------------------------
def setArmMotorStatesCallback(self, request):
for stateRequest in request.motorStates:
if stateRequest.motorIdx >= 0 and stateRequest.motorIdx < ArmDriver.NUM_MOTORS:
self.armDriver.setMotorState(stateRequest.motorIdx,
stateRequest.motorState)
else:
rospy.logerr("Command sent to invalid motorIdx ({0})".format(
stateRequest.motorIdx))
class ROS_ArmServer():
'''Provides ROS topics for controlling a maplin arm'''
def __init__( self ):
# Start the node
rospy.init_node( 'armDriver', anonymous=True )
self.armDriver = ArmDriver()
# Setup topics so that users can control the motors
self.setArmMotorStatesTopic = rospy.Subscriber( "setArmMotorStates",
maplin_arm.msg.SetMotorStates, self.setArmMotorStatesCallback )
#---------------------------------------------------------------------------
def update( self ):
self.armDriver.update()
#---------------------------------------------------------------------------
def setArmMotorStatesCallback( self, request ):
for stateRequest in request.motorStates:
if stateRequest.motorIdx >= 0 and stateRequest.motorIdx < ArmDriver.NUM_MOTORS:
self.armDriver.setMotorState( stateRequest.motorIdx, stateRequest.motorState )
else:
rospy.logerr( "Command sent to invalid motorIdx ({0})".format( stateRequest.motorIdx ) )
class ArmServer():
def listener(self):
# In ROS, nodes are uniquely named. If two nodes with the same
# name are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
self.armDriver = ArmDriver()
rospy.Subscriber('setArmMotorStates', SetMotorStates,
self.setArmMotorStatesCallback)
rospy.Timer(rospy.Duration(2), self.my_callback)
rospy.spin()
def my_callback(self, event):
self.update()
#---------------------------------------------------------------------------
def update(self):
self.armDriver.update()
#---------------------------------------------------------------------------
def setArmMotorStatesCallback(self, request):
for stateRequest in request.motorStates:
if stateRequest.motorIdx >= 0 and stateRequest.motorIdx < ArmDriver.NUM_MOTORS:
self.armDriver.setMotorState(stateRequest.motorIdx,
stateRequest.motorState)
self.update()
else:
rospy.logerr("Command sent to invalid motorIdx ({0})".format(
stateRequest.motorIdx))
def __init__(self):
# Start the node
rospy.init_node('armDriver', anonymous=True)
self.armDriver = ArmDriver()
# Setup topics so that users can control the motors
self.setArmMotorStatesTopic = rospy.Subscriber(
"setArmMotorStates", maplin_arm.msg.SetMotorStates,
self.setArmMotorStatesCallback)
def listener(self):
# In ROS, nodes are uniquely named. If two nodes with the same
# name are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
self.armDriver = ArmDriver()
rospy.Subscriber('setArmMotorStates', SetMotorStates,
self.setArmMotorStatesCallback)
rospy.Timer(rospy.Duration(2), self.my_callback)
rospy.spin()
def __init__( self ):
# Start the node
rospy.init_node( 'armDriver', anonymous=True )
self.armDriver = ArmDriver()
# Setup topics so that users can control the motors
self.setArmMotorStatesTopic = rospy.Subscriber( "setArmMotorStates",
maplin_arm.msg.SetMotorStates, self.setArmMotorStatesCallback )
