def __init__(self): time.sleep(1) self.robot_state_msgs = RobotState() self.battery_state_msgs = BatteryState() self.twist_msgs = Twist() # self.diagnostics_speak_thread = {} self.auto_undocking = False self.diagnostics_list = [] if rospy.get_param("~speak_warn", True): self.diagnostics_list.append(DiagnosticStatus.WARN) if rospy.get_param("~speak_error", True): self.diagnostics_list.append(DiagnosticStatus.ERROR) if rospy.get_param("~speak_stale", True): self.diagnostics_list.append(DiagnosticStatus.STALE) # self.base_breaker = rospy.ServiceProxy('base_breaker', BreakerCommand) # self.battery_sub = rospy.Subscriber("battery_state", BatteryState, self.battery_callback, queue_size = 1) self.cmd_vel_sub = rospy.Subscriber("base_controller/command_unchecked", Twist, self.cmd_vel_callback, queue_size = 1) self.robot_state_sub = rospy.Subscriber("robot_state", RobotState, self.robot_state_callback, queue_size = 1) self.diagnostics_status_sub = rospy.Subscriber("diagnostics", DiagnosticArray, self.diagnostics_status_callback, queue_size = 1) self.undock_sub = rospy.Subscriber("/undock/status", GoalStatusArray, self.undock_status_callback) # self.cmd_vel_pub = rospy.Publisher("base_controller/command", Twist, queue_size=1)
def __init__(self): time.sleep(1) self.battery_sub = rospy.Subscriber("battery_state", BatteryState, self.battery_callback, queue_size = 1) self.cmd_vel_sub = rospy.Subscriber("base_controller/command", Twist, self.cmd_vel_callback, queue_size = 1) self.robot_state_sub = rospy.Subscriber("robot_state", RobotState, self.robot_state_callback, queue_size = 1) self.diagnostics_status_sub = rospy.Subscriber("diagnostics", DiagnosticArray, self.diagnostics_status_callback, queue_size = 1) self.base_breaker = rospy.ServiceProxy('base_breaker', BreakerCommand) # self.robot_state_msgs = RobotState() self.battery_state_msgs = BatteryState() self.twist_msgs = Twist() # self.diagnostics_speak_thread = {}