def standalone(name, script, plugins):
"""
Execute roshlet standalone. This method blocks until roshlet exits.
@param name: roshlet name
@type name: str
@param package: roshlet package
@type package: str
@param type_: roshlet type
@type type_: str
@param plugins: list of roshlet plugins to load for roshlet
@type plugins: [str]
@raise roslib.packages.InvalidROSPkgException: If package does not exist
@raise IOError: If roshlet cannot be located
"""
# clean plugin list
plugins = [p for p in plugins if p]
# load rosh symbols
rosh.rosh_init()
# Load roshlet and execute blocking in this thread
pc = rosh.get_default_plugin_context()
args = rosh.impl.roshlets.load_roshlet(script, pc, plugins)
rosh.impl.roshlets.exec_roshlet(*args)
#!/usr/bin/env python
import rosh
import time
import rospy
rosh.rosh_init()
power = 0
steer = 0.0
power_cmd = rosh.msg.std_msgs.Float64()
steer_cmd = rosh.msg.std_msgs.Float64()
power_cmd.data = power
steer_cmd.data = steer
left_steer = getattr(rosh.topics,
'/robot_gazebo/left_wheel_steering_controller/command')
left_power = getattr(rosh.topics,
'/robot_gazebo/left_wheel_power_controller/command')
right_steer = getattr(rosh.topics,
'/robot_gazebo/right_wheel_steering_controller/command')
right_power = getattr(rosh.topics,
'/robot_gazebo/right_wheel_power_controller/command')
extend_cmd = getattr(rosh.topics,
'/robot_gazebo/central_cylinder_controller/command')
while True:
left_steer(steer_cmd)
#!/usr/bin/env python
import roslib; roslib.load_manifest('rosh')
# this changes the behavior of rospy/roslaunch/etc... on SIGINT to just be a normal KeyboardInterrupt
roslib.set_interactive(True)
import rosh
rosh.rosh_init()
# import all symbols after initialization
from rosh import *
import os, sys
plugins = sys.argv[1:]
for p in plugins:
load(p, globals())
# load the user's roshrc file, if present
import roslib.rosenv as _rosenv
_roshrcp = os.path.join(_rosenv.get_ros_home(), 'rosh', 'roshrc.py')
if os.path.isfile(_roshrcp):
print "loading roshrc"
try:
_f = open(_roshrcp)
_plugins_copy = plugins[:]
exec _f.read()
if plugins and plugins != _plugins_copy:
for p in plugins:
try:
load(p, globals())
