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Python Joy.channels[2]方法代码示例

本文整理汇总了Python中sensor_msgs.msg.Joy.channels[2]方法的典型用法代码示例。如果您正苦于以下问题:Python Joy.channels[2]方法的具体用法?Python Joy.channels[2]怎么用?Python Joy.channels[2]使用的例子?那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在sensor_msgs.msg.Joy的用法示例。


在下文中一共展示了Joy.channels[2]方法的1个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的Python代码示例。

示例1: onMessage

# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import channels[2] [as 别名]
    def onMessage(self, payload, isBinary):
        # Debug
        if isBinary:
            print("Binary message received: {0} bytes".format(len(payload)))
        else:
            print("Text message received: {0}".format(payload.decode('utf8')))

            # Do stuff
            # pub = rospy.Publisher('blockly', String, queue_size=10)
            # time.sleep(1)
            # pub.publish("blockly says: "+payload.decode('utf8'))

            # Simple text protocol for communication
            # first line is the name of the method
            # next lines are body of message
            message_text = payload.decode('utf8')
            message_data = message_text.split('\n', 1)

            if len(message_data) > 0:
                method_name = message_data[0]
                if len(message_data) > 1:
                    method_body = message_data[1]
                    if method_name.startswith('play'):
                        CodeStatus.set_current_status(CodeStatus.RUNNING)
                        BlocklyServerProtocol.build_ros_node(method_body)
                        rospy.loginfo('The file generated contains...')
                        os.system('cat test.py')
                        if method_name == 'play2':
                            CodeExecution.run_process(['python', 'test.py'])
                        elif method_name == 'play3':
                            CodeExecution.run_process(['python3', 'test.py'])
                    else:
                        rospy.logerr('Called unknown method %s', method_name)
                else:
                    if 'pause' == method_name:
                        CodeStatus.set_current_status(CodeStatus.PAUSED)
                    elif 'resume' == method_name:
                        CodeStatus.set_current_status(CodeStatus.RUNNING)
                    elif 'end' == method_name:
                        #End test.py execution
                        global pid
                        print("@@@@@@@@@@@@@@@@@@")
                        try:
                            print("kill pid="+str(pid))
                            os.kill(pid, signal.SIGKILL)
                            ros_nodes = rosnode.get_node_names()
                        except NameError:
                            print("execution script not running.")
                            pass

                        if '/imu_talker' in ros_nodes: #brain
                            ##set default values
                            pub = rospy.Publisher('/statusleds', String, queue_size=10, latch=True)
                            msg = 'blue_off'
                            pub.publish(msg)
                            msg = 'orange_off'
                            pub.publish(msg)
                        if '/crab_leg_kinematics' in ros_nodes: #spider
                            print("spider running")
                            pub = rospy.Publisher('/joy', Joy, queue_size=10, latch=True)
                            msg = Joy()
                            msg.header.stamp = rospy.Time.now()
                            rate = rospy.Rate(10)
                            valueAxe = 0.0
                            valueButton = 0
                            for i in range (0, 20):
                                msg.axes.append(valueAxe)
                            for e in range (0, 17):
                                msg.buttons.append(valueButton)
                            pub.publish(msg)
                            print("DEFAULT MESSAGES SENT")
                        if '/mavros' in ros_nodes: #rover
                            print("rover")
                            pub = rospy.Publisher('/mavros/rc/override', OverrideRCIn, queue_size=10)
                            msg = OverrideRCIn()
                            msg.channels[0] = 1500
                            msg.channels[1] = 0
                            msg.channels[2] = 1500
                            msg.channels[3] = 0
                            msg.channels[4] = 0
                            msg.channels[5] = 0
                            msg.channels[6] = 0
                            msg.channels[7] = 0
                            pub.publish(msg)
                        print("@@@@@@@@@@@@@@@@@@")

                    elif method_name.startswith('control'):
                        robot = method_name.split('control_')[1]
                        if robot.startswith('spider'):
                            direction = robot.split('spider_')[1]
                            pub = rospy.Publisher('/joy', Joy, queue_size=10)
                            msg = Joy()
                            msg.header.stamp = rospy.Time.now()
                            rate = rospy.Rate(10)
                               
                            valueAxe = 0.0
                            valueButton = 0
                            for i in range (0, 20):
                                msg.axes.append(valueAxe)
                            for e in range (0, 17):
#.........这里部分代码省略.........
开发者ID:Nestor94Gonzalez,项目名称:robot_blockly,代码行数:103,代码来源:robot_blockly_backend.py


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