def process_fish_image(image):
""" process the fisheye lens image """
trace_line(image)
if CURRENT_STATE == 'intersection':
if sign_intersection == 'left':
TURTLE.set_speed_by_percentage(0.5)
TURTLE.set_angular(TURTLE._angular + 0.2)
elif sign_intersection == 'right':
TURTLE.set_speed_by_percentage(0.5)
TURTLE.set_angular(TURTLE._angular - 0.2)
elif CURRENT_STATE == 'stop_sign':
if left_detected > right_detected :
TURTLE.set_speed_by_percentage(0.5)
TURTLE.set_angular(TURTLE._angular + 0.2)
elif right_detected < left_detected :
TURTLE.set_speed_by_percentage(0.5)
TURTLE.set_angular(TURTLE._angular - 0.2)
TURTLE.move()
if __name__ == '__main__':
try:
RUN_TYPE = 'run_' + sys.argv[1]
# NOTE: publisher to stop viewers
PUBLISHER_PACKAGE = rospy.Publisher(PATH_GALAPAGOS_STATE, String, queue_size=5)
MSG = String()
MSG.data = RUN_TYPE
PUBLISHER_PACKAGE.publish(MSG)
rospy.loginfo("executing: %s" % RUN_TYPE)
__import__('%s' % (RUN_TYPE), fromlist=[RUN_TYPE])
rospy.loginfo("Galapagos package started.")
while not rospy.is_shutdown():
TURTLE.move()
rospy.Rate(5).sleep()
#rospy.spin() # ! Deprecated
# NOTE: The codes below will never be worked
# except rospy.ROSInterruptException:
# rospy.loginfo('exception occurred')
# rospy.signal_shutdown("bye")
# pass
except KeyboardInterrupt:
print("\r", end='')
TURTLE.disable()
MSG.data = "view"
print(str(PUBLISHER_PACKAGE.publish(MSG)))
def gogo():
print("running")
TURTLE.set_speed_by_percentage(0.5)
TURTLE.set_angular(0)
TURTLE.move()
