def main(stdscr):
args = rospy.myargv()[1:]
cfgfile = find_config_file(args)
if not cfgfile:
rospy.logfatal("Could not locate config file.")
exit(1)
cfg = RawConfigParser()
cfg.read(cfgfile)
bm = BatteryMonitor(stdscr, cfg)
rospy.init_node(NODE_NAME)
rospy.Subscriber(SUBSCRIBE_TOPIC, RobotState, bm.on_update)
rate = rospy.Rate(LOOP_FREQ)
while not rospy.is_shutdown():
bm.step()
rate.sleep()
def main(stdscr):
args = rospy.myargv()[1:]
cfgfile = find_config_file(args)
if not cfgfile:
rospy.logfatal("Could not locate config file.")
exit(1)
cfg = RawConfigParser()
cfg.read(cfgfile)
bm = BatteryMonitor(stdscr, cfg)
rospy.init_node(NODE_NAME)
rospy.Subscriber(SUBSCRIBE_TOPIC, RobotState, bm.on_update)
rate = rospy.Rate(LOOP_FREQ)
while not rospy.is_shutdown():
bm.step()
rate.sleep()
def main():
app = QtGui.QApplication(rospy.myargv())
parser = OptionParser()
parser.add_option("--config-file", "-c")
options, args = parser.parse_args(rospy.myargv())
cfgfile = find_config_file(options.config_file)
if not cfgfile:
rospy.logfatal("Unable to find config file")
exit(1)
rospy.loginfo("Calibrating file %s", cfgfile)
screen = CalibrationScreen(cfgfile)
screen.show()
retval = app.exec_()
return retval
def main():
def vision_callback(msg):
commander.vision.on_update(msg, get_time())
def stopsign_callback(msg):
commander.stopsign.on_update(msg, get_time())
def ranger_callback(msg):
commander.ranger.on_update(msg, get_time())
def estop_callback(msg):
commander.estop.on_update(msg, get_time())
rospy.loginfo("Starting %s", NODE_NAME)
car_pub = rospy.Publisher(CAR_TOPIC, CarCommand)
vel_pub = rospy.Publisher(VELOCITY_TOPIC, Twist)
rospy.init_node(NODE_NAME)
commander = OscarCommander(get_time())
commander.debugger = rospy.loginfo
cfgfile = find_config_file(rospy.myargv()[1:])
if cfgfile:
rospy.loginfo("Loading config file %s", cfgfile)
commander.load_config(cfgfile)
else:
rospy.logfatal("No config file found")
exit(1)
rospy.Subscriber(VISION_TOPIC, Vector3, vision_callback)
rospy.Subscriber(STOPSIGN_TOPIC, Float64, stopsign_callback)
rospy.Subscriber(RANGER_TOPIC, Vector3, ranger_callback)
rospy.Subscriber(ESTOP_TOPIC, Joy, estop_callback)
rate = rospy.Rate(LOOP_FREQ)
while not rospy.is_shutdown():
rec = commander.get_command(get_time())
car_pub.publish(throttle = rec.throt, steering = rec.steer)
#vel_msg = Twist()
#vel_msg.linear.x = rec.throt
#vel_msg.angular.z = rec.steer
#vel_pub.publish(vel_msg)
rate.sleep()
rospy.loginfo("Stopping %s", NODE_NAME)
def load_config(self, cmd_line_arg): cfg = find_config_file(cmd_line_arg) self.throttle.load_config(cfg) self.steering.load_config(cfg) self.pan.load_config(cfg) self.tilt.load_config(cfg)
def load_config(self, cmd_line_arg):
cfg = find_config_file(cmd_line_arg)
self.throttle.load_config(cfg)
self.steering.load_config(cfg)
self.pan.load_config(cfg)
self.tilt.load_config(cfg)
