我们从Python开源项目中，提取了以下50个代码示例，用于说明如何使用geometry_msgs.msg.Twist()。
def drive(gest): if gest.data == 1: #FIST turtlesimPub.publish("go back") tsPub.publish(Twist(Vector3(-1.0, 0, 0), Vector3(0, 0, 0))) elif gest.data == 2 and armState == 1: #WAVE_IN, RIGHT arm turtlesimPub.publish("go left") tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, 1.0))) elif gest.data == 2 and armState == 2: #WAVE_IN, LEFT arm turtlesimPub.publish("go right") tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, -1.0))) elif gest.data == 3 and armState == 1: #WAVE_OUT, RIGHT arm turtlesimPub.publish("go right") tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, -1.0))) elif gest.data == 3 and armState == 2: #WAVE_OUT, LEFT arm turtlesimPub.publish("go left") tsPub.publish(Twist(Vector3(0, 0, 0), Vector3(0, 0, 1.0))) elif gest.data == 4: #FINGERS_SPREAD turtlesimPub.publish("go forward") tsPub.publish(Twist(Vector3(1.0, 0, 0), Vector3(0, 0, 0)))
def init(self): pygame.init() clock = pygame.time.Clock() screen = pygame.display.set_mode((250, 250)) rospy.init_node('highway_teleop') self.rate = rospy.Rate(rospy.get_param('~hz', 10)) self.acc = rospy.get_param('~acc', 5) self.yaw = rospy.get_param('~yaw', 0) self.robot_pub = rospy.Publisher('robot_0/cmd_vel', Twist, queue_size=1) print "Usage: \n \ up arrow: accelerate \n \ down arrow: decelerate \n \ left arrow: turn left \n \ right arrow: turn right"
def compute_control_actions(): global i controller.compute_control_actions(current_pose, current_twist, i) data_container['t'].append(i * DELTA_T) data_container['x'].append(current_pose.position.x) data_container['x_ref'].append(controller.x_ref_n) data_container['y'].append(current_pose.position.y) data_container['y_ref'].append(controller.y_ref_n) data_container['theta'].append(controller.theta_n) data_container['theta_ref'].append(controller.theta_ref_n) data_container['v_c'].append(controller.v_c_n) data_container['w_c'].append(controller.w_c_n) data_container['zeros'].append(0) twist = Twist() twist.linear.x = controller.v_c_n twist.angular.z = controller.w_c_n twist_publisher.publish(twist) i += 1
def start(): global left_motor_pub,right_motor_pub # publishing to "turtle1/cmd_vel" to control turtle1 global pub pub = rospy.Publisher('turtle1/cmd_vel', Twist) left_motor_pub = rospy.Publisher('/left_motor', std_msgs.msg.Int32, queue_size=10) right_motor_pub = rospy.Publisher('/right_motor', std_msgs.msg.Int32, queue_size=10) # subscribed to joystick inputs on topic "joy" rospy.Subscriber("joy", Joy, callback) # starts the node rospy.init_node('Joy2Turtle') rospy.spin()
def contr(keynumber): # turtlesim??topic pub = rospy.Publisher('~cmd_vel', Twist, queue_size=5) countnum = 0 if keynumber == 3: while(1): twist = Twist() twist.linear.x = 0.2 twist.linear.y = 0 twist.linear.z = 0 twist.angular.x = 0 twist.angular.y = 0 twist.angular.z = 0.14 pub.publish(twist) countnum += 1 if countnum > 100000: countnum = 0 exit(0)
def __init__(self): """Constructor for the class initialize topic subscription and instance variables """ self.r = rospy.Rate(5) self.publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=10) rospy.Subscriber('/scan', LaserScan, self.process_scan) # user chooses which parking mode to be performed self.is_parallel = rospy.get_param('~parallel', False) # Instance Variables self.timestamp1 = None self.timestamp2 = None self.dist2Neato = None self.dist2Wall = None self.widthOfSpot = None self.twist = None self.radius = None # Adjusment to be made before moving along the arc self.adjustment = 0 self.isAligned = False
def __init__(self): """ Initialize the parking spot recognizer """ #Subscribe to topics of interest rospy.Subscriber("/camera/image_raw", Image, self.process_image) rospy.Subscriber('/cmd_vel', Twist, self.process_twist) # Initialize video images cv2.namedWindow('video_window') self.cv_image = None # the latest image from the camera self.dst = np.zeros(IMG_SHAPE, np.uint8) self.arc_image = np.zeros(IMG_SHAPE, np.uint8) self.transformed = np.zeros(IMG_SHAPE, np.uint8) # Declare instance variables self.bridge = CvBridge() # used to convert ROS messages to OpenCV self.hsv_lb = np.array([0, 70, 60]) # hsv lower bound to filter for parking lines self.hsv_ub = np.array([30, 255, 140]) # hsv upper bound self.vel = None self.omega = None self.color = (0,0,255)
def __init__(self): rospy.loginfo('[robot_move_pkg]->linear_move is initial') #??????????????? self.robot_state = robot_state.robot_position_state() self.cmd_move_pub = rospy.Publisher('/cmd_move', g_msgs.Twist, queue_size = 100) self.rate = rospy.Rate(150) #??????????? self.stop_tolerance = config.high_speed_stop_tolerance self.angular_tolerance = config.high_turn_angular_stop_tolerance #????????????? self.accurate_turn_an_angular = turn_an_angular.turn_an_angular() self.x_speed = 0.0 self.y_speed = 0.0 self.w_speed = config.high_turn_angular_speed #??????? self.linear_sp = spline_func.growth_curve() self.amend_speed = 0.12
def __init__(self): #?????????? m/s self.move_cmd_pub = rospy.Publisher('cmd_move_robot',g_msgs.Twist,queue_size=100) self.move_speed = config.go_along_circle_speed self.get_position = robot_state.robot_position_state() #????????? rad self.stop_tolerance = config.go_along_circle_angular_tolerance #???????? rospy.on_shutdown(self.brake) # ??sleep ??? ??????????? self.rate = 100.0 self.R = rospy.Rate(int(self.rate)) self.MODE = { 1:(-1, 1), 2:( 1,-1), 3:( 1, 1), 4:(-1,-1)}
def go_to(self, radius, angular, mode): # ?????????? symbol_y,symbol_w = self.MODE[mode] ang_has_moved = 0.0 self.reach_goal = False move_vel = g_msgs.Twist() start_yaw = self.get_position.get_robot_current_w() while not rospy.is_shutdown() and self.reach_goal != True: current_yaw = self.get_position.get_robot_current_w() ang_has_moved += abs(abs(current_yaw) - abs(start_yaw)) start_yaw = current_yaw if abs(ang_has_moved - abs(angular)) <= self.stop_tolerance: self.reach_goal = True break move_vel.linear.y = self.move_speed*symbol_y # ???????, ???? dw*dt = dt*atan2(dv*dt/2.0, radius) move_vel.angular.z = self.rate*atan2(self.move_speed/self.rate,radius)*symbol_w print ang_has_moved self.move_cmd_pub.publish(move_vel) self.R.sleep() self.brake() print ang_has_moved
def correct_angle(self): # rospy.loginfo("sadasdafasf") (x,theta,if_close_line) = self.close_line_cmd.find_line() r = rospy.Rate(50) move_velocity = g_msgs.Twist() if theta > 0: move_velocity.angular.z = -0.10 else: move_velocity.angular.z = 0.10 while not rospy.is_shutdown(): (x,theta,if_close_line) = self.close_line_cmd.find_line() self.cmd_move_pub.publish(move_velocity) #???????????????? if theta < 0.02 and theta > -0.02: rospy.loginfo("will Stop!!!!!!!!!!") self.brake() break r.sleep() #??3??????
def __init__(self): rospy.loginfo('[robot_move_pkg]->linear_move is initial') #??????????????? self.robot_state = robot_state.robot_position_state() self.cmd_move_pub = rospy.Publisher('/cmd_move', g_msgs.Twist, queue_size = 100) self.rate = rospy.Rate(150) #??????????? self.stop_tolerance = config.high_speed_stop_tolerance self.angular_tolerance = config.high_turn_angular_stop_tolerance #????????????? self.accurate_turn_an_angular = turn_an_angular.turn_an_angular() self.x_speed = 0.0 self.y_speed = 0.0 self.w_speed = config.high_turn_angular_speed #??????? self.linear_sp = spline_func.growth_curve() self.amend_speed = 0.18
def turn(self, goal_angular): # ???????????????,?????????????? # ????,???? rospy.loginfo('[robot_move_pkg]->move_in_robot.turn will turn %s'%goal_angular) current_angular = start_angular = self.robot_state.get_robot_current_w()#?????????? r = rospy.Rate(100) delta_angular = current_angular - start_angular move_velocity = g_msgs.Twist() while not rospy.is_shutdown() : if abs(delta_angular - abs(goal_angular)) < self.turn_move_stop_tolerance: break current_angular = self.robot_state.get_robot_current_w() move_velocity.angular.z = math.copysign(self.w_speed, goal_angular) delta_angular += abs(abs(current_angular) - abs(start_angular) ) start_angular = current_angular self.cmd_move_pub.publish(move_velocity) #??????????? r.sleep() self.brake()
def turn_to(self,goal_angular): rospy.on_shutdown(self.brake) #??????????? current_angular = start_angular = self.robot_state.get_robot_current_w()#?????????? is_arrive_goal = False r = rospy.Rate(100) delta_angular = current_angular - start_angular delta_upper_limit = abs(goal_angular) + 0.02 #???? delta_lower_limit = abs(goal_angular) - 0.02 #???? move_velocity = g_msgs.Twist() while not rospy.is_shutdown() and not is_arrive_goal: if abs(delta_angular)<=delta_upper_limit and abs(delta_angular) >= delta_lower_limit: #???? self.brake() is_arrive_goal = True break current_angular = self.robot_state.get_robot_current_w() if goal_angular > 0: move_velocity.angular.z = 0.1 else: move_velocity.angular.z = -0.1 delta_angular += abs(abs(current_angular) - abs(start_angular) ) start_angular = current_angular self.cmd_move_pub.publish(move_velocity) #??????????? r.sleep() self.brake()
def __init__(self): self.find_ball_client = rospy.ServiceProxy('volleyball_data',volleyballdata) self.cmd_vel_pub = rospy.Publisher('cmd_move_robot' , g_msgs.Twist , queue_size=100) self.cmd_position = get_robot_position.robot_position_state() self.move_speed = 0.21 #???????? rospy.on_shutdown(self.brake) #???????????? self.MODE = { 1:(-1, 1), 2:( 1,-1), 3:( 1, 1), 4:(-1,-1)} rospy.loginfo('waiting for the find ball..') self.find_ball_client.wait_for_service() rospy.loginfo('connect to the find ball!!!') #??????????????????
def __init__(self): self.base_pub = rospy.Publisher("/base_controller/command", Twist, queue_size=1) token = rospy.get_param('/telegram/token', None) # Create the Updater and pass it your bot's token. updater = Updater(token) # Add command and error handlers updater.dispatcher.add_handler(CommandHandler('start', self.start)) updater.dispatcher.add_handler(CommandHandler('help', self.help)) updater.dispatcher.add_handler(MessageHandler(Filters.text, self.echo)) updater.dispatcher.add_error_handler(self.error) # Start the Bot updater.start_polling()
def drive(gest): global movingState global zero global speed if gest.data == 1: #FIST movingState -= 1 elif gest.data == 4 or gest.data == 2: #FINGERS_SPREAD movingState += 1 elif gest.data == 3 : zero = y if movingState > 0 : movingState = 1 turtlesimPub.publish("go forward") speed = 1 # tsPub.publish(Twist(Vector3(1.0, 0, 0), Vector3(0, 0, 0))) elif movingState < 0 : movingState = -1 turtlesimPub.publish("go back") speed = -1 # tsPub.publish(Twist(Vector3(-1.0, 0, 0), Vector3(0, 0, 0))) else : speed = 0 print (speed)
def strength(emgArr1): emgArr=emgArr1.data # Define proportional control constant: K = 0.005 # Get the average muscle activation of the left, right, and all sides aveRight=(emgArr[0]+emgArr[1]+emgArr[2]+emgArr[3])/4 aveLeft=(emgArr[4]+emgArr[5]+emgArr[6]+emgArr[7])/4 ave=(aveLeft+aveRight)/2 # If all muscles activated, drive forward exponentially if ave > 500: tsPub.publish(Twist(Vector3(0.1*math.exp(K*ave),0,0),Vector3(0,0,0))) # If only left muscles activated, rotate proportionally elif aveLeft > (aveRight + 200): tsPub.publish(Twist(Vector3(0,0,0),Vector3(0,0,K*ave))) # If only right muscles activated, rotate proportionally elif aveRight > (aveLeft + 200): tsPub.publish(Twist(Vector3(0,0,0),Vector3(0,0,-K*ave))) # If not very activated, don't move (high-pass filter) else: tsPub.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
def __init__(self): # setup CozmoTeleop.settings = termios.tcgetattr(sys.stdin) atexit.register(self.reset_terminal) # vars self.head_angle = STD_HEAD_ANGLE self.lift_height = STD_LIFT_HEIGHT # params self.lin_vel = rospy.get_param('~lin_vel', 0.2) self.ang_vel = rospy.get_param('~ang_vel', 1.5757) # pubs self._head_pub = rospy.Publisher('head_angle', Float64, queue_size=1) self._lift_pub = rospy.Publisher('lift_height', Float64, queue_size=1) self._cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
def run(self): if self.finished: return TaskStatus.SUCCESS else: rospy.loginfo('Vacuuming the floor in the ' + str(self.room)) while self.counter > 0: self.cmd_vel_pub.publish(self.cmd_vel_msg) self.cmd_vel_msg.linear.x *= -1 rospy.loginfo(self.counter) self.counter -= 1 rospy.sleep(1) return TaskStatus.RUNNING self.finished = True self.cmd_vel_pub.publish(Twist()) message = "Finished vacuuming the " + str(self.room) + "!" rospy.loginfo(message)
def __init__(self): """ROS Subscriptions """ self.image_sub = rospy.Subscriber("/raspicam_node/image/image_raw",Image,self.cvt_image) self.image_pub = rospy.Publisher("/image_converter/output_video",Image, queue_size=10) self.cmdVel_pub = rospy.Publisher("/platform_control/cmd_vel", Twist, queue_size=10) self.cmdVelStamped_pub = rospy.Publisher('/platform_control/cmd_vel_stamped', TwistStamped, queue_size=10) """ Variables """ self.model_path = 'home/wil/ros/catkin_ws/src/diy_driverless_car_ROS/rover_ml/behavior_cloning/src/behavior_cloning/model.h5' self.cmdvel = Twist() self.baseVelocity = TwistStamped() self.bridge = CvBridge() self.latestImage = None self.outputImage = None self.resized_image = None self.imgRcvd = False
def cmdVel_publish(self, cmdVelocity): # Publish Twist self.cmdVel_pub.publish(cmdVelocity) # Publish TwistStamped self.baseVelocity.twist = cmdVelocity baseVelocity = TwistStamped() baseVelocity.twist = cmdVelocity now = rospy.get_rostime() baseVelocity.header.stamp.secs = now.secs baseVelocity.header.stamp.nsecs = now.nsecs self.cmdVelStamped_pub.publish(baseVelocity)
def __init__(self): rospy.init_node('localizer') rospy.Subscriber('/odom', Odometry, self.process_odom) self.sound_speed = 340.29*100 # cm/s self.mic_dist = 30 # cm self.buffer = 200 self.angles = [] # angle odometry self.angle_curr = 0.0 self.angle_k = 1 self.angle_error = None self.at_speaker = False self.angle_pred = 0.0 self.pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
def __init__(self): self.bridge = cv_bridge.CvBridge() cv2.namedWindow("input", 1) cv2.createTrackbar('param1', 'input', 10, 300, nothing) cv2.createTrackbar('param2', 'input', 15, 300, nothing) cv2.namedWindow("processed", 1) self.image_sb = rospy.Subscriber('/usb_cam/image_raw', Image, self.image_callback) self.motion = Twist() rate = rospy.Rate(20) # publish to cmd_vel of the jackal pub = rospy.Publisher("/jackal_velocity_controller/cmd_vel", Twist, queue_size=10) while not rospy.is_shutdown(): # publish Twist pub.publish(self.motion) rate.sleep()
def __init__(self): self.petrone = Petrone() # subscriber self.sub_flight = rospy.Subscriber('cmd_fly', Int8, self.cb_fly, queue_size=1) self.sub_cmd = rospy.Subscriber('cmd_vel_raw', Twist, self.cb_cmd, queue_size=1) self.sub_color = rospy.Subscriber('led_color', String, self.cb_color, queue_size=1) # publisher self.pub_battery = rospy.Publisher('battery', Float32, queue_size=1) self.pub_status_flight = rospy.Publisher('status/flight', Int8, queue_size=1) self.pub_status_system = rospy.Publisher('status/system', Int8, queue_size=1) self.pub_imu = rospy.Publisher('imu', Imu, queue_size=1) # cache self.is_disconnected = True self.last_values = defaultdict(lambda: 0) # flight parameters self.twist = Twist() self.twist_at = 0
def __init__(self): self.pub_vel_wheel = rospy.Publisher('/bycycle_interaction/vel_wheel', Twist, queue_size=1) self.twist = Twist() self.vel_wheel = 0 self.angle_wheel = 0 self.rate = rospy.get_param('~rate', 3.0) self.wheel_radius = rospy.get_param('~wheel_radius', 0.30) self.srv = Server(bicycle_interactionConfig, self.reconfig_callback) # define dynamic_reconfigure callback rate = rospy.Rate(self.rate) while not rospy.is_shutdown(): self.publish_vel_wheel() rate.sleep()
def tj_callback(data): # start publisher of cmd_vel to control Turtlesim pub = rospy.Publisher("turtle1/cmd_vel", Twist, queue_size=1) # Create Twist message & add linear x and angular z from left joystick twist = Twist() twist.linear.x = data.axes[1] twist.angular.z = data.axes[0] # record values to log file and screen rospy.loginfo("twist.linear: %f ; angular %f", twist.linear.x, twist.angular.z) # process joystick buttons if data.buttons[0] == 1: # green button on xbox controller move_circle() # publish cmd_vel move command to Turtlesim pub.publish(twist)
def move_circle(): # Create a publisher which can "talk" to Turtlesim and tell it to move pub = rospy.Publisher('turtle1/cmd_vel', Twist, queue_size=1) # Create a Twist message and add linear x and angular z values move_cmd = Twist() move_cmd.linear.x = 1.0 move_cmd.angular.z = 1.0 # Save current time and set publish rate at 10 Hz now = rospy.Time.now() rate = rospy.Rate(10) # For the next 6 seconds publish cmd_vel move commands to Turtlesim while rospy.Time.now() < now + rospy.Duration.from_sec(6): pub.publish(move_cmd) rate.sleep()
def keyboard(): pub = rospy.Publisher('/mobile_base/commands/velocity',Twist, queue_size=10) rospy.init_node('teleop_py',anonymous=True) rate = rospy.Rate(10) k = 1 while not rospy.is_shutdown() and k < 250: twist.linear.x = 1.0 twist.angular.z = 0.01 twist.linear.y = 0.0 pub.publish(twist) rate.sleep() k +=1 k = 1 # while not rospy.is_shutdown() and k < 400: # twist.linear.x = 0.0 # twist.angular.z = 0.1 # twist.linear.y = 0.0 # pub.publish(twist) # rate.sleep() # k +=1
def callback(data,pub): t = Twist() if data.data == 1: t.linear.x = .25 print t if data.data == 2: t.angular.z = 2 if data.data == 3: t.linear.x = .25 t.angular.z = 1 time = rospy.get_time() while rospy.get_time()-time < 6: pub.publish (t) rospy.sleep(.005)
def __init__(self): self.imgprocess = ImageProcessor.ImageProcessor() self.bridge = CvBridge() self.latestimage = None self.process = False """ROS Subscriptions """ self.image_pub = rospy.Publisher("/image_converter/output_video",Image, queue_size=10) self.image_sub = rospy.Subscriber("/cam/camera_/image_raw",Image,self.cvt_image) self.cmdVelocityPub = rospy.Publisher('/platform_control/cmd_vel', Twist, queue_size=10) self.targetlane = 0 self.cmdvel = Twist() self.last_time = rospy.Time() self.sim_time = rospy.Time() self.dt = 0 self.position_er = 0 self.position_er_last = 0; self.cp = 0 self.vel_er = 0 self.cd = 0 self.Kp = 3 self.Kd = 3.5
def speed_converter(): rospy.init_node('wheel_speed', anonymous=True) pub1 = rospy.Publisher('lwheel_vtarget', Float32, queue_size=10) pub2 = rospy.Publisher('rwheel_vtarget', Float32, queue_size=10) rate = rospy.Rate(10) while not rospy.is_shutdown(): rospy.Subscriber('cmd_vel', Twist, callback) s1 = "The left wheel's target speed is %f m/s." % lv s2 = "The right wheel's target speed is %f m/s." % rv rospy.loginfo(s1) rospy.loginfo(s2) pub1.publish(lv) pub2.publish(rv) rate.sleep()
def initPubs(self): self.robot_pubs = {} count = 1 for i in range(self.num_lanes): num_car_lane = self.num_cars_per_lane[i] for j in range(num_car_lane): self.robot_pubs[count] = {} self.robot_pubs[count]['laneid'] = i self.robot_pubs[count]['pub'] = rospy.Publisher('robot_' + str(count) + '/cmd_vel', Twist, queue_size=1) count += 1
def send_control(self, robot_pub, vel, yaw): msg = Twist() msg.linear.x = vel msg.angular.z = 0 robot_pub.publish(msg)
def send_control(self, vel, yaw): msg = Twist() msg.linear.x = vel msg.angular.z = yaw self.robot_pub.publish(msg)
def init(self): self.hz = 500 self.rate = rospy.Rate(self.hz) self.robot_pub = rospy.Publisher('robot_0/cmd_vel', Twist, queue_size=1) self.start_game = False # self.start_game = True # self.initTime = time() # self.index = 0 self.initUpdateVel = True self.TIME_PER_STEP = 0.1 self.LoadControls() self.lenControls = len(self.controls)
def init(self): self.hz = rospy.get_param('~hz', 10) self.max_speed = rospy.get_param('~max_speed', 5) self.min_speed = rospy.get_param('~min_speed', -5) self.rate = rospy.Rate(self.hz) self.robot_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1) self.acc = 0 self.yaw = 0 self.vel = 0
def __init__(self, name): self.name = name # Publisher self.cmd_vel = rospy.Publisher("/%s/cmd_vel" % self.name, Twist, queue_size=1) # Subscriber self.odom = rospy.Subscriber("/%s/odom" % self.name, Odometry, self.odom_callback, queue_size=1) self.laser = rospy.Subscriber("/%s/front_laser/scan" % self.name, LaserScan, self.laser_callback, queue_size=1) self.camera = rospy.Subscriber("/%s/front_camera/image_raw" % self.name, Image, self.camera_callback, queue_size=1) self.pose_data = None self.laser_data = None self.camera_data = None self.cv_bridge = cv_bridge.CvBridge() self.rate = rospy.Rate(10) self.rate.sleep()
def set_speed(self, linear, angular): movecmd = Twist() movecmd.linear.x = linear movecmd.angular.z = angular self.cmd_vel.publish(movecmd)
def __init__(self): rospy.init_node('nav_asr', anonymous = True) rospy.Subscriber("/recognizer/output", String, self.SpeechUpdateGoal) rospy.Subscriber("/WPsOK", String, self.GetWayPoints) self.waypoint_list = dict() self.marker_list = list() self.makerArray = MarkerArray() self.makerArray_pub = rospy.Publisher("Waypoint_Array",MarkerArray,queue_size=5) rospy.on_shutdown(self.shutdown) # @@@@ # How long in seconds should the robot pause at each location? self.rest_time = rospy.get_param("~rest_time", 2) # Are we running in the fake simulator? self.fake_test = rospy.get_param("~fake_test", True) # Publisher to manually control the robot (e.g. to stop it, queue_size=5) self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5) # Subscribe to the move_base action server self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) rospy.loginfo("Waiting for move_base action server...") # Wait 60 seconds for the action server to become available self.move_base.wait_for_server(rospy.Duration(60)) rospy.loginfo("Connected to move base server") # Create the waypoints list from txt
def shutdown(self): rospy.loginfo("Stopping the robot...") self.move_base.cancel_goal() rospy.sleep(2) self.cmd_vel_pub.publish(Twist()) rospy.sleep(1)
def __init__(self): self.force_reset = True self.vel_pub = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size=5) self.unpause = rospy.ServiceProxy('/gazebo/unpause_physics', Empty) self.pause = rospy.ServiceProxy('/gazebo/pause_physics', Empty) self.reset_proxy = rospy.ServiceProxy('/gazebo/reset_simulation', Empty) self.img_rows = 32 self.img_cols = 32 self.img_channels = 1
def myround(x): return int(round(x) - .5) + (x > 0) # Author: Andrew Dai # This ROS Node converts Joystick inputs from the joy node # into commands for turtlesim # Receives joystick messages (subscribed to Joy topic) # then converts the joysick inputs into Twist commands # axis 1 aka left stick vertical controls linear speed # axis 0 aka left stick horizonal controls angular speed
