def answer(receiver, loc_name, pose): msg = CommunicationProtocol() msg.sender = name msg.receiver = receiver msg.request = "answer %s"%(loc_name) msg.location = pose #thread.start_new_thread(send,(receiver, msg)) comm_pub.publish(msg)
def request(receiver, loc_name): msg = CommunicationProtocol() msg.sender = name msg.receiver = receiver msg.request = "request %s"%(loc_name) #msg.location = get_own_pose() comm_pub.publish(msg)
def answer(receiver, loc_name, pose): msg = CommunicationProtocol() msg.sender = name msg.receiver = receiver msg.request = "answer %s"%(loc_name) msg.location = pose msg.location.header.stamp = rospy.Time.now() comm_pub.publish(msg)
def request(receiver, loc_name): msg = CommunicationProtocol() msg.sender = name msg.receiver = receiver msg.request = "request %s"%(loc_name) msg.location = turtles[receiver] #thread.start_new_thread(send,(receiver, msg)) #send(receiver, msg) comm_pub.publish(msg)
def execute(self, userdata): found = 'tb05' foreign_master_uri = make_master_uri(found) try: msg = CommunicationProtocol() msg.sender = self.id msg.receiver = found msg.request = 'hive' connect(self.topic, foreign_master_uri) rospy.sleep(0.2) self.publisher.publish(msg) disconnect(self.topic, foreign_master_uri) except: print "exception" disconnect(self.topic, foreign_master_uri) return 'done'