def main():
port = 5031
name = 'tilt_angle'
rate = 50 # Hz
rospy.init_node('read_left_lidar_tilt', anonymous=False)
publisher = rospy.Publisher(name, Float32, queue_size=5)
steer_angles = SimplePublisher(port, name, publisher, rate, ">f")
steer_angles.go()
def main():
port = 5017
name = 'vehicle_hardware_stop'
rate = 30 # Hz
rospy.init_node('read_estops', anonymous=False)
publisher = rospy.Publisher(name, Bool, queue_size=5)
e_stops = SimplePublisher(port, name, publisher, rate , ">?")
e_stops.go()
def main():
port = 5015
name = 'wheel_vel'
rate = 30 # Hz
rospy.init_node('read_wheel_vel', anonymous=False)
publisher = rospy.Publisher(name, Float32, queue_size=5)
wheel_velocity = SimplePublisher(port, name, publisher, rate, "<f")
wheel_velocity.go()
def main():
port = 5016
name = 'steer_angle'
rate = 30 # Hz
rospy.init_node('read_steer_angle', anonymous=False)
publisher = rospy.Publisher(name, Float64, queue_size=5)
steer_angles = SimplePublisher(port, name, publisher, rate, ">d")
steer_angles.go()
def main():
port = 5022
name = 'odometer'
rate = 30 # Hz
rospy.init_node('read_odometer', anonymous=False)
publisher = rospy.Publisher(name, Float64, queue_size=5)
odometer = SimplePublisher(port, name, publisher, rate, ">d")
odometer.go()