def __init__(self):
rospy.init_node("mongo_bridge")
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
self._mongo_client=pymongo.MongoClient(rospy.get_param("datacentre_host"),
rospy.get_param("datacentre_port") )
# advertise ros services
for attr in dir(self):
if attr.endswith("_ros_srv"):
service=getattr(self, attr)
rospy.Service("/mongo_bridge/"+attr[:-8], service.type, service)
def __init__(self, name="autonomous_patroller"):
self._active_episode = False
got_datacentre = dc_util.wait_for_mongo()
if not got_datacentre:
raise Exception("strands_datacentres does not appear to be running")
self._mongo = pymongo.MongoClient(rospy.get_param("datacentre_host",
"localhost"),
int(rospy.get_param("datacentre_port")))
self._db = self._mongo[name].episodes
self._mileage_sub = rospy.Subscriber('/mileage', Float32,
self._mileage_cb)
self._odom_mileage_sub = rospy.Subscriber('/odom_mileage', Float32,
self._odom_mileage_cb)
self._batterystate_sub = rospy.Subscriber('/battery_state', BatteryState,
self._batterystate_cb)
self._mileage = 0
self._odom_mileage = 0
self._battery = 100
def __init__(self, name="autonomous_patroller"):
self._active_episode = False
got_datacentre = dc_util.wait_for_mongo()
if not got_datacentre:
raise Exception(
"strands_datacentres does not appear to be running")
self._mongo = pymongo.MongoClient(
rospy.get_param("datacentre_host", "localhost"),
int(rospy.get_param("datacentre_port")))
self._db = self._mongo[name].episodes
self._mileage_sub = rospy.Subscriber('/odom_mileage', Float32,
self._mileage_cb)
self._odom_mileage_sub = rospy.Subscriber('/odom_mileage', Float32,
self._odom_mileage_cb)
self._batterystate_sub = rospy.Subscriber('/battery_state',
BatteryState,
self._batterystate_cb)
self._mileage = 0
self._odom_mileage = 0
self._battery = 100
