我们从Python开源项目中，提取了以下10个代码示例，用于说明如何使用std_msgs.msg.Int8()。
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, base_set_command='amixer -c 0 sset Master playback', base_get_command='amixer -c 0 sget Master playback'): self.base_set_cmd = base_set_command self.base_get_cmd = base_get_command self.curr_vol = 0 rospy.loginfo("VolumeManager using base set command: '" + self.base_set_cmd + "'") rospy.loginfo("VolumeManager using base get command: '" + self.base_get_cmd + "'") self.sub = rospy.Subscriber('~set_volume', Int8, self.cb, queue_size=1) # Get volume to start publishing self.curr_vol = self.get_current_volume() self.pub = rospy.Publisher('~get_volume', Int8, latch=True, queue_size=1) self.timer = rospy.Timer(rospy.Duration(1.0), self.curr_vol_cb)
def __init__(self, joy_topic): rospy.loginfo("waiting for petrone") rospy.wait_for_message('battery', Float32) rospy.loginfo("found petrone") # fly control publisher self.pub_fly = rospy.Publisher('cmd_fly', Int8, queue_size=1) self.pub_led = rospy.Publisher('led_color', String, queue_size=1) # subscribe to the joystick at the end to make sure that all required # services were found self._buttons = None rospy.Subscriber(joy_topic, Joy, self.cb_joy)
def curr_vol_cb(self, event): self.curr_vol = self.get_current_volume() self.pub.publish(Int8(self.curr_vol))
def callback(data): global current_msg global key global last_message global buff_msg #determine game type according to the data head tag!!!!!!!!! #rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data) #print type(data), type(data.data), len(data.data) raw_msg = data.data if not raw_msg == buff_msg: current_msg = dataProcessing(raw_msg) if current_msg == last_msg and (not current_msg == None): key = False print key else: key = True #TODO change to a mouth color publisher according to the current_msg pub = rospy.Publisher('mouth_color', Int8, queue_size=10) #target_color = current_msg[len(current_msg)-1] #this is formal solution #temp solution target_color = 1 if task[0] == "complete_astronaut": target_color = 1 elif task[0] == "complete_clown": target_color = 2 elif task[0] == "complete_wizard": target_color = 3 pub.publish(target_color) buff_msg = raw_msg
def listener2(threadName, delay):#threadName, delay global f rospy.Subscriber("mouth_color", Int8, callback2) # spin() simply keeps python from exiting until this node is stopped rospy.spin()
def __init__(self, pocket_name): GazeboObject.__init__(self, pocket_name) self._active = None self._last_time_active = None self._off_delay = 0.1 rospy.Subscriber("/"+pocket_name+"/contact", Int8, self.update_state)
def __init__(self, max_random_start, observation_dims, data_format, display): self.max_random_start = max_random_start self.action_size = 28 self.display = display self.data_format = data_format self.observation_dims = observation_dims self.screen = np.zeros((self.observation_dims[0],self.observation_dims[1]), np.uint8) ##################### # Followings are not used yet self.syncLaser = False self.syncPose = False self.syncGoal = False self.syncDir = False self.sentTime = 0 ##################### self.poseX = 0.0 self.poseY = 0.0 self.prevPoseX = 0.0 self.prevPoseY = 0.0 self.goalX = 0.0 self.goalY = 0.0 self.dir = 0.0 self.prevDist = 0.0 self.terminal = 0 self.sendTerminal = 0 self.clock = Clock() self.lastClock = Clock() rospy.wait_for_service('reset_positions') self.resetStage = rospy.ServiceProxy('reset_positions', EmptySrv) # Publishers: self.pub_action_ = rospy.Publisher("dqn/selected_action",Int8,queue_size=1) self.pub_new_goal_ = rospy.Publisher("dqn/new_goal",EmptyMsg,queue_size=1) self.pub_rew_ = rospy.Publisher("dqn/lastreward",Float32,queue_size=1) # Subscribers: rospy.Subscriber('bridge/laser_image', Image, self.laserCB,queue_size=1) rospy.Subscriber('bridge/current_dir', Float32, self.directionCB,queue_size=1) rospy.Subscriber('bridge/impact', EmptyMsg, self.impactCB,queue_size=1) rospy.Subscriber('bridge/current_pose', Pose, self.positionCB,queue_size=1) rospy.Subscriber('bridge/goal_pose', Pose, self.targetCB,queue_size=1) rospy.Subscriber('clock', Clock, self.stepCB,queue_size=1)
def step(self, action, is_training=False): self.prevPoseX = self.poseX self.prevPoseY = self.poseY if action == -1: # Step with random action action = int(random.random()*(self.action_size)) msg = Int8() msg.data = action self.pub_action_.publish( msg) if self.display: cv2.imshow("Screen", self.screen) #cv2.waitKey(9) dist = (self.poseX - self.goalX)**2 + (self.poseY - self.goalY)**2 reward = (self.prevDist - dist)/10.0 self.prevDist = dist if self.terminal == 1: reward -= 900 #self.new_random_game() if dist < 0.9: reward += 300 newStateMSG = EmptyMsg() self.pub_new_goal_.publish( newStateMSG) # cv2.waitKey(30) # Add whatever info you want info = "" #rospy.loginfo("Episede ended, reward: %g", reward) while(self.clock == self.lastClock): pass self.lastClock = self.clock if self.terminal == 2: self.sendTerminal = 1 if self.terminal == 1: # rewd = Float32() # rewd.data = reward # self.pub_rew_.publish( rewd) self.terminal = 2 return self.screen, reward, self.sendTerminal, info #observation, reward, terminal, info = self.env.step(action) #return self.preprocess(observation), reward, terminal, info
def __init__(self,target_topic): #styleMap = ['none','astronaut','clown','wizard','dinosaur','animal','doctor','surgeon','teacher'] self.current_msg = None self.last_msg = None self.buff_msg = None self.key = False self.task = [] self.dm = RobotManager() self.lastColor = 1 self.currentColor = 1 self.positive_flag = False self.styleDict = {} self.styleSet = {} self.styleMap = ['none','astronaut','clown','wizard','dinosaur','animal','doctor','surgeon','teacher']#newly added 'animal','doctor','surgeon','teacher' self.colorTask = 1 #temporary solution # 0 hat, 1 eyes, 2 glasses, 3 clothing, 4 shoes, 5 acc self.styleSet['none'] = ['no hat', 'no face accessory','no costume','regular shoes','no accessory'] self.styleSet['astronaut'] = ["astrounaut helmet","astronaut face accessory","astronaut costume","astronaut shoes","a flag"] self.styleSet['clown'] = ["clown hat","clown face","clown costume","clown shoes","a horn"] self.styleSet['wizard'] = ["wizard hat","wizard eye","wizard costume","wizard shoes","a wand"] self.styleSet['dinosaur'] = ['dinosaur hat', 'dino sunglasses','dinosaur costume','dinosaur shoes','a mini dinosaur'] self.styleSet['animal'] = ['animal hat','animal face','animal costume','animal shoes','a piece of meat'] self.styleSet['doctor'] = ['doctor hat','doctor face accessory','doctor costume','doctor shoes','a document'] self.styleSet['surgeon'] = ['surgeon hat','surgeon face accessory','surgeon costume','surgeon shoes','a surgeon document'] self.styleSet['teacher'] = ['teacher hat','teacher sunglasses','teacher costume','teacher shoes','an apple'] self.game_listener = rospy.Subscriber(target_topic, String, callback = self.callback) #self.speech_state_listener = rospy.Subscriber("speech_state", String, callback = self.callback2) self.mouth_pub = rospy.Publisher('mouth_color', Int8, queue_size=10) self.breath_count = 0 #formal solution #styleSet['none'] = ['none','none','none','none','none'] ########################################################### #style dictionary #formal solution for elem in self.styleMap: for clothes in self.styleSet[elem]: self.styleDict[clothes] = elem self.styleDict['no face accessory'] = 'none' # Xray Game # mapX = ["MAKI's eye","MAKI's ear","MAKI's nose"] # for part in mapX: # if part not in dialog: # dialog[part] = "This part is " + part #print dialog.keys()
