Python std_msgs.msg 模块，Int32() 实例源码

def __init__(self):
        self.node_name = "hand_gestures"
        rospy.init_node(self.node_name)

        rospy.on_shutdown(self.cleanup)

        # self.cv_window_name = self.node_name
        # cv2.namedWindow("Depth Image", 1)
        # cv2.moveWindow("Depth Image", 20, 350)

        self.bridge = CvBridge()
        self.numFingers = RecognizeNumFingers() 

        self.depth_sub = rospy.Subscriber("/asus/depth/image_raw", Image, self.depth_callback)
        self.num_pub = rospy.Publisher('num_fingers', Int32, queue_size=10, latch=True)       
        # self.img_pub = rospy.Publisher('hand_img', Image, queue_size=10)
        rospy.loginfo("Waiting for image topics...")

def execute():

    # define publisher and its topic 
    pub = rospy.Publisher('read_coords',Int32,queue_size = 10)
    rospy.init_node('report_coords_node',anonymous = True)
    rate = rospy.Rate(10)

    # report once
    if len(sys.argv) == 1:
        pub.publish(1)
        time.sleep(0.1)
        print 'Current location is x: %2.2fcm, y: %2.2fcm, z: %2.2fcm.' %(rospy.get_param('current_x'),rospy.get_param('current_y'),rospy.get_param('current_z'))

    # report multiple time
    elif len(sys.argv) == 2:
        for i in range(0,int(sys.argv[1])):
            pub.publish(1)
            time.sleep(0.1)
            print 'Current location is x: %2.2fcm, y: %2.2fcm, z: %2.2fcm.' %(rospy.get_param('current_x'),rospy.get_param('current_y'),rospy.get_param('current_z'))

    elif len(sys.argv) == 3:
        for i in range(0,int(sys.argv[1])):
            pub.publish(1)
            time.sleep(0.1)
            print 'Current location is x: %2.2fcm, y: %2.2fcm, z: %2.2fcm.' %(rospy.get_param('current_x'),rospy.get_param('current_y'),rospy.get_param('current_z'))
            time.sleep(float(sys.argv[2])-0.1)
    else:
        raiseError()

    rate.sleep()

# main function

def execute():

    # define publisher and its topic 
    pub = rospy.Publisher('read_angles',Int32,queue_size = 10)
    rospy.init_node('report_angles_node',anonymous = True)
    rate = rospy.Rate(10)

    # report once       
    if len(sys.argv) == 1:
        pub.publish(1)
        time.sleep(0.15)
        print 'Four Servo Angles: %2.2f, %2.2f, %2.2f and %2.2f degrees.' %(rospy.get_param('servo_1'),rospy.get_param('servo_2'),rospy.get_param('servo_3'),rospy.get_param('servo_4'))

    # report multiple time
    elif len(sys.argv) == 2:
        for i in range(0,int(sys.argv[1])):
            pub.publish(1)
            time.sleep(0.15)
            print 'Four Servo Angles: %2.2f, %2.2f, %2.2f and %2.2f degrees.' %(rospy.get_param('servo_1'),rospy.get_param('servo_2'),rospy.get_param('servo_3'),rospy.get_param('servo_4'))

    elif len(sys.argv) == 3:
        for i in range(0,int(sys.argv[1])):
            pub.publish(1)
            time.sleep(0.15)
            print 'Four Servo Angles: %2.2f, %2.2f, %2.2f and %2.2f degrees.' %(rospy.get_param('servo_1'),rospy.get_param('servo_2'),rospy.get_param('servo_3'),rospy.get_param('servo_4'))
            time.sleep(float(sys.argv[2])-0.15)

    else:
        raiseError()

    rate.sleep()

# main function

def listener():
    print ' '
    print 'Begin monitor mode - listening to all fucntional topics'
    print '======================================================='
    print '         Use rqt_graph to check the connection         '
    print '======================================================='

    rospy.init_node('uarm_core',anonymous=True)

    rospy.Subscriber("uarm_status",String, attchCallback)
    rospy.Subscriber("pump_control",UInt8, pumpCallack)
    rospy.Subscriber("pump_str_control",String, pumpStrCallack)

    rospy.Subscriber("read_coords",Int32, currentCoordsCallback)
    rospy.Subscriber("read_angles",Int32, readAnglesCallback)
    rospy.Subscriber("stopper_status",Int32, stopperStatusCallback)

    rospy.Subscriber("write_angles",Angles, writeAnglesCallback)
    rospy.Subscriber("move_to",Coords, moveToCallback)
    rospy.Subscriber("move_to_time",CoordsWithTime, moveToTimeCallback)
    rospy.Subscriber("move_to_time_s4",CoordsWithTS4, moveToTimeAndS4Callback)

    rospy.spin()
    pass


# show eroors

def gripperApertureNode():
    gripper = baxter_interface.Gripper('left')
    rospy.init_node('gripperApertureNode')
    pub = rospy.Publisher('/gripperAperture_values', Int32, queue_size=1)
    rate = rospy.Rate(20)
    while not rospy.is_shutdown():
        ap = gripper.position()
        pub.publish(ap)
        rate.sleep()

def __init__(self):
        self.node_name = "move_tbot"
        rospy.init_node(self.node_name)

        rospy.on_shutdown(self._shutdown)

        self.bridge = CvBridge()
        self.turn = Twist()
        self.move = GoToPose()
        # self.face_recog_file = FaceRecognition()
        # self.get_person_data = GetPersonData()
        self.qr_data = []
        self.all_face_names = []
        self.face_names = []
        self.counter = 0

        self.qr_sub = rospy.Subscriber('ar_pose_marker', AlvarMarkers, self.qr_callback)
        self.odom_sub = rospy.Subscriber('odom', Odometry, self.odom_callback)
        self.num_fingers_sub = rospy.Subscriber('num_fingers', Int32, self.num_fingers_callback)
        # self.hand_img_sub = rospy.Subscriber('hand_img', Image, self.hand_img_callback)
        # self.face_img_sub = rospy.Subscriber('face_img', Image, self.face_img_callback)
        self.face_name_sub = rospy.Subscriber('face_names', StringArray, self.face_names_callback)
        self.all_face_names_sub = rospy.Subscriber('all_face_names', StringArray, self.all_face_names_callback)

        self.turn_pub = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10)
        self.rate = rospy.Rate(10)

        while not rospy.is_shutdown():
            self.run_tbot_routine()

def talker():
        pub = rospy.Publisher('servo_positions', Int32, queue_size=10)
        rospy.init_node('talker', anonymous=True)
        rate = rospy.Rate(10) # 1hz


    for joint in range (0, 10): # for all servos ...
        x = hand.get_position(joint) # get servo position
        rospy.loginfo('servo %d = %d ' , joint,x)
        pub.publish(x) # publish servo position



        rate.sleep()

def __init__(self):
        rospy.init_node('xm_tree', anonymous=False)
        # The root node
        BEHAVE = Sequence("BEHEAVE")

         # Initialize the ParallelAll task
        PARALLEL = ParallelAll("Listen_AND_CHECK")

        BEHAVE.add_child(PARALLEL)

        SPEECH_CMD = MonitorTask("SPEECH", "speech_sub", Int32, self.task_check_cb)

        CMD_EXE=Selector("CMD_LIST")

        PARALLEL.add_child(SPEECH_CMD)
        PARALLEL.add_child(CMD_EXE)

        with CMD_EXE:
            #CMD_EXE.add_child(Check_Cmd())
            CMD_EXE.add_child(ExecuteTask())
            pass
        print "Behavior Tree\n"
        print_tree(BEHAVE)

        rospy.loginfo("Starting simulated house cleaning test")

        # Run the tree
        while not rospy.is_shutdown():
            BEHAVE.run()
            rospy.sleep(0.1)
            BEHAVE.reset()
            #rospy.loginfo("running")

def run(self):
       # subprocess.call(["espeak","I am following"])
        rospy.Subscriber("speech_sub", Int32, self.follow_speech_cb)
        rospy.Subscriber('people_position_estimation',PositionMeasurement,self.people_msg_cb)

def main_fcn():
    pub = rospy.Publisher('joint_states',JointState,queue_size = 10)
    pub2 = rospy.Publisher('read_angles',Int32,queue_size = 10)
    pub3 = rospy.Publisher('uarm_status',String,queue_size = 100)

    rospy.init_node('display',anonymous = True)
    rate = rospy.Rate(20)


    joint_state_send = JointState()
    joint_state_send.header = Header()
    joint_state_send.name = ['base_to_base_rot','base_rot_to_link_1','link_1_to_link_2' ,'link_2_to_link_3','link_3_to_link_end']


    joint_state_send.name = joint_state_send.name+ ['link_1_to_add_1','link_2_to_add_4','link_3_to_add_2','base_rot_to_add_3','link_2_to_add_5']

    angle = {}

    trigger = 1

    while not rospy.is_shutdown():
        joint_state_send.header.stamp = rospy.Time.now()

        pub2.publish(1)
        if trigger == 1:
            pub3.publish("detach")
            time.sleep(1)
            trigger = 0     

        angle['s1'] = rospy.get_param('servo_1')*math.pi/180
        angle['s2'] = rospy.get_param('servo_2')*math.pi/180
        angle['s3'] = rospy.get_param('servo_3')*math.pi/180
        angle['s4'] = rospy.get_param('servo_4')*math.pi/180

        joint_state_send.position = [angle['s1'],angle['s2'],-angle['s2']-angle['s3'],angle['s3'],angle['s4']]
        joint_state_send.position = joint_state_send.position + [-angle['s2']-angle['s3'],angle['s3'],PI/2-angle['s3']]
        joint_state_send.position = joint_state_send.position + [angle['s2']-PI,angle['s2']+angle['s3']-PI/2]
        joint_state_send.velocity = [0]
        joint_state_send.effort = []

        pub.publish(joint_state_send)
        rate.sleep()

def execute():

    # define publisher and its topic 
    pub = rospy.Publisher('stopper_status',Int32,queue_size = 10)
    rospy.init_node('report_stopper_node',anonymous = True)
    rate = rospy.Rate(10)

    # report once
    if len(sys.argv) == 1:

        pub.publish(1)
        time.sleep(0.1)
        status = rospy.get_param('stopper_status')

        if status == 'HIGH':
            print 'Stopper is actived'
        elif status == 'LOW':
            print 'Stopper is not actived'

    # report multiple time
    elif len(sys.argv) == 2:
        for i in range(0,int(sys.argv[1])):
            pub.publish(1)
            time.sleep(0.1)

            status = rospy.get_param('stopper_status')
            if status == 'HIGH':
                print 'Stopper is actived'
            elif status == 'LOW':
                print 'Stopper is not actived'

    elif len(sys.argv) == 3:
        for i in range(0,int(sys.argv[1])):

            pub.publish(1)
            time.sleep(0.1)

            status = rospy.get_param('stopper_status')
            if status == 'HIGH':
                print 'Stopper is actived'
            elif status == 'LOW':
                print 'Stopper is not actived'
            time.sleep(float(sys.argv[2])-0.1)
    else: 
        raiseError()

    rate.sleep()

# main function