def __init__(self):
super().__init__('sonar2', namespace='')
# Params
#____________________________________________
# Publishers
#____________________________________________
# toCpu2
# Qos profile
qos_profile_toCpu2 = QoSProfile(
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.SYSTEM_DEFAULT,
depth=15)
# Additional qos settings
qos_profile_toCpu2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_toCpu2.deadline.sec = 0
qos_profile_toCpu2.deadline.nsec = 0
qos_profile_toCpu2.lifespan.sec = 0
qos_profile_toCpu2.lifespan.nsec = 0
qos_profile_toCpu2.liveliness_lease_duration.sec = 0
qos_profile_toCpu2.liveliness_lease_duration.nsec = 0
qos_profile_toCpu2.avoid_ros_namespace_conventions = False
self.publisher_toCpu2 = self.create_publisher(
Distance, 'topic/path/s2', qos_profile=qos_profile_toCpu2)
self.timer_toCpu2 = self.create_timer(0.0, self.publisher_call_toCpu2)
self.i = 0
def __init__(self):
super().__init__('node3', namespace='name/space3')
# Params
#____________________________________________
# Publishers
#____________________________________________
# Subscribers
#____________________________________________
# sub1
# Qos profile
qos_profile_sub1 = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.subscriber_sub1 = self.create_subscription(
M1,
'topic/path1',
self.subscriber_call_sub1,
qos_profile=qos_profile_sub1)
self.subscriber_sub1
#_____
# Servers
#____________________________________________
# Clients
#____________________________________________
# c2
# Qos profile
qos_profile_c2 = QoSProfile(
history=QoSHistoryPolicy.KEEP_ALL,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.RELIABLE,
depth=0)
# Additional qos settings
qos_profile_c2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_c2.deadline.sec = 0
qos_profile_c2.deadline.nsec = 0
qos_profile_c2.lifespan.sec = 0
qos_profile_c2.lifespan.nsec = 0
qos_profile_c2.liveliness_lease_duration.sec = 0
qos_profile_c2.liveliness_lease_duration.nsec = 0
qos_profile_c2.avoid_ros_namespace_conventions = False
self.client_c2 = self.create_client(Addtwo,
'service2',
qos_profile=qos_profile_c2)
def __init__(self):
super().__init__('node2', namespace='name/space2')
# Params
#____________________________________________
# Publishers
#____________________________________________
# pub1
# Qos profile
qos_profile_pub1 = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.publisher_pub1 = self.create_publisher(
M1, 'topic/path1', qos_profile=qos_profile_pub1)
self.timer_pub1 = self.create_timer(10.0, self.publisher_call_pub1)
self.i = 0
#_____
# Subscribers
#____________________________________________
# Servers
#____________________________________________
# Clients
#____________________________________________
# c1
# Qos profile
qos_profile_c1 = QoSProfile(
history=QoSHistoryPolicy.KEEP_ALL,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.RELIABLE,
depth=0)
# Additional qos settings
qos_profile_c1.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_c1.deadline.sec = 0
qos_profile_c1.deadline.nsec = 0
qos_profile_c1.lifespan.sec = 0
qos_profile_c1.lifespan.nsec = 0
qos_profile_c1.liveliness_lease_duration.sec = 0
qos_profile_c1.liveliness_lease_duration.nsec = 0
qos_profile_c1.avoid_ros_namespace_conventions = False
self.client_c1 = self.create_client(Addtwo,
'service1',
qos_profile=qos_profile_c1)
#_____
# Action Servers
#____________________________________________
# as2
self.action_server_as2 = ActionServer(
self,
Dec,
'as2',
execute_callback=self.action_execute_call_as2,
goal_callback=self.action_goal_call_as2,
cancel_callback=self.action_cancel_call_as2)
#_____
# Action Clients
#____________________________________________
# ac1
self.action_client_ac1 = ActionClient(self, Increase, 'ac1')
def __init__(self):
super().__init__('cpu', namespace='')
# Params
#____________________________________________
# Publishers
#____________________________________________
# toActuators
# Qos profile
qos_profile_toActuators = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.publisher_toActuators = self.create_publisher(
Twist, 'topic/path/act', qos_profile=qos_profile_toActuators)
self.timer_toActuators = self.create_timer(
0.0, self.publisher_call_toActuators)
self.i = 0
#_____
# Subscribers
#____________________________________________
# fromSonar1
# Qos profile
qos_profile_fromSonar1 = QoSProfile(
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.SYSTEM_DEFAULT,
depth=15)
# Additional qos settings
qos_profile_fromSonar1.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_fromSonar1.deadline.sec = 0
qos_profile_fromSonar1.deadline.nsec = 0
qos_profile_fromSonar1.lifespan.sec = 0
qos_profile_fromSonar1.lifespan.nsec = 0
qos_profile_fromSonar1.liveliness_lease_duration.sec = 0
qos_profile_fromSonar1.liveliness_lease_duration.nsec = 0
qos_profile_fromSonar1.avoid_ros_namespace_conventions = False
self.subscriber_fromSonar1 = self.create_subscription(
Distance,
'topic/path/s1',
self.subscriber_call_fromSonar1,
qos_profile=qos_profile_fromSonar1)
self.subscriber_fromSonar1
#_____
# fromSonar2
# Qos profile
qos_profile_fromSonar2 = QoSProfile(
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.SYSTEM_DEFAULT,
reliability=QoSReliabilityPolicy.SYSTEM_DEFAULT,
depth=15)
# Additional qos settings
qos_profile_fromSonar2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_fromSonar2.deadline.sec = 0
qos_profile_fromSonar2.deadline.nsec = 0
qos_profile_fromSonar2.lifespan.sec = 0
qos_profile_fromSonar2.lifespan.nsec = 0
qos_profile_fromSonar2.liveliness_lease_duration.sec = 0
qos_profile_fromSonar2.liveliness_lease_duration.nsec = 0
qos_profile_fromSonar2.avoid_ros_namespace_conventions = False
self.subscriber_fromSonar2 = self.create_subscription(
Distance,
'topic/path/s2',
self.subscriber_call_fromSonar2,
qos_profile=qos_profile_fromSonar2)
self.subscriber_fromSonar2
def __init__(self):
super().__init__('node1', namespace = '')
# Params
#____________________________________________
# p1 - INTEGER_ARRAY
# Description:
self.param_p1 = self.declare_parameter('p1', 32, descriptor=ParameterDescriptor(name='p1', type=7, description='', additional_constraints='', read_only=False, floating_point_range=[], integer_range=[]))
# You can use your parameter p1 with type INTEGER_ARRAY
# with self.get_parameter('p1')._value
# You can also use your parameter from terminal or yaml file.
#_____
# Publishers
#____________________________________________
# Subscribers
#____________________________________________
# sub1
# Qos profile
qos_profile_sub1 = QoSPresetProfiles.SYSTEM_DEFAULT.value
self.subscriber_sub1 = self.create_subscription(M1, 'topic/path1', self.subscriber_call_sub1, qos_profile = qos_profile_sub1)
self.subscriber_sub1
#_____
# Servers
#____________________________________________
# s1
# Qos profile
qos_profile_s1 = QoSProfile(history = QoSHistoryPolicy.KEEP_ALL, durability = QoSDurabilityPolicy.SYSTEM_DEFAULT, reliability = QoSReliabilityPolicy.RELIABLE, depth =0)
# Additional qos settings
qos_profile_s1.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_s1.deadline.sec = 0
qos_profile_s1.deadline.nsec = 0
qos_profile_s1.lifespan.sec = 0
qos_profile_s1.lifespan.nsec = 0
qos_profile_s1.liveliness_lease_duration.sec = 0
qos_profile_s1.liveliness_lease_duration.nsec = 0
qos_profile_s1.avoid_ros_namespace_conventions = False
self.server_s1 = self.create_service(Addtwo, 'service1', self.server_call_s1, qos_profile = qos_profile_s1)
#_____
# s2
# Qos profile
qos_profile_s2 = QoSProfile(history = QoSHistoryPolicy.KEEP_ALL, durability = QoSDurabilityPolicy.SYSTEM_DEFAULT, reliability = QoSReliabilityPolicy.RELIABLE, depth =0)
# Additional qos settings
qos_profile_s2.liveliness = QoSLivelinessPolicy.SYSTEM_DEFAULT
qos_profile_s2.deadline.sec = 0
qos_profile_s2.deadline.nsec = 0
qos_profile_s2.lifespan.sec = 0
qos_profile_s2.lifespan.nsec = 0
qos_profile_s2.liveliness_lease_duration.sec = 0
qos_profile_s2.liveliness_lease_duration.nsec = 0
qos_profile_s2.avoid_ros_namespace_conventions = False
self.server_s2 = self.create_service(SetBool, 'service2', self.server_call_s2, qos_profile = qos_profile_s2)
#_____
# Clients
#____________________________________________
# Action Servers
#____________________________________________
# as1
self.action_server_as1 = ActionServer(self, Increase, 'as1', execute_callback=self.action_execute_call_as1, goal_callback=self.action_goal_call_as1, cancel_callback=self.action_cancel_call_as1)
#_____
# Action Clients
#____________________________________________
# ac2
self.action_client_ac2 = ActionClient(self, Dec, 'ac2')
