def __init__(self):
# Set up node & topics
rospy.init_node(NODENAME, anonymous=True)
rospy.loginfo(rospy.get_name()+" node initialized")
self.display = DotDisplay(BACKGROUND, textpos=DOT_POS)
rospy.Subscriber('/takktile/calibrated', Touch, self.callback)
rospy.spin()
class DotVizNode:
def __init__(self):
# Set up node & topics
rospy.init_node(NODENAME, anonymous=True)
rospy.loginfo(rospy.get_name()+" node initialized")
self.display = DotDisplay(BACKGROUND, textpos=DOT_POS)
rospy.Subscriber('/takktile/calibrated', Touch, self.callback)
rospy.spin()
def callback(self, data):
color = np.minimum(np.ones(len(data.pressure)), np.abs(np.array(data.pressure) / DATA_SCALE))
self.display.update(color, DOT_POS, dotradius=DOT_RADIUS)