def __init__(self): """ Start up connection to the Neato Robot. """ rospy.init_node('neato') self.port = rospy.get_param('~port', "/dev/ttyUSB0") rospy.loginfo("Using port: %s"%(self.port)) self.robot = xv11(self.port) rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb) self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=10) self.odomPub = rospy.Publisher('odom',Odometry, queue_size=10) self.odomBroadcaster = TransformBroadcaster() self.cmd_vel = [0,0]
def __init__(self): """ Start up connection to the Neato Robot. """ rospy.init_node('neato') self.port = rospy.get_param('~port', "/dev/ttyACM0") rospy.loginfo("Using port: %s"%(self.port)) self.robot = xv11(self.port) rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb) self.scanPub = rospy.Publisher('base_scan', LaserScan) self.odomPub = rospy.Publisher('odom',Odometry) self.odomBroadcaster = TransformBroadcaster() self.cmd_vel = [0,0]
def __init__(self): """ Start up connection to the Neato Robot. """ rospy.init_node('neato') self.port = rospy.get_param('~port', "/dev/ttyUSB0") rospy.loginfo("Using port: %s" % (self.port)) self.robot = xv11(self.port) rospy.Subscriber("pi_cmd", String, self.pi_command) rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb) self.scanPub = rospy.Publisher('scan', LaserScan) self.odomPub = rospy.Publisher('odom', Odometry) self.bumpPub = rospy.Publisher('bump', Bump) self.odomBroadcaster = TransformBroadcaster() self.cmd_to_send = None self.cmd_vel = [0, 0]
def __init__(self): """ Start up connection to the Neato Robot. """ rospy.init_node('neato') self.tf_prefix = rospy.get_param('~tf_prefix', "") self.port = rospy.get_param('~port', "/dev/ttyUSB0") rospy.loginfo("Using port: %s"%(self.port)) self.robot = xv11(self.port) rospy.Subscriber("pi_cmd",String,self.pi_command) rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb) self.scanPub = rospy.Publisher('scan', LaserScan) self.odomPub = rospy.Publisher('odom',Odometry) self.odomBroadcaster = TransformBroadcaster() self.cmd_to_send = None self.cmd_vel = [0,0]
def __init__(self, device="/dev/ttyUSB0"): VacuumInterface.__init__(self) self.dev = device self._xv11 = xv11(port=self.dev)