本文整理汇总了Python中rospy.Subscriber方法的典型用法代码示例。如果您正苦于以下问题：Python rospy.Subscriber方法的具体用法？Python rospy.Subscriber怎么用？Python rospy.Subscriber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类rospy的用法示例。
在下文中一共展示了rospy.Subscriber方法的15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: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
#############################################################
rospy.init_node("twist_to_motors")
nodename = rospy.get_name()
rospy.loginfo("%s started" % nodename)
self.w = rospy.get_param("~base_width", 0.2)
self.pub_lmotor = rospy.Publisher('lwheel_vtarget', Float32, queue_size=10)
self.pub_rmotor = rospy.Publisher('rwheel_vtarget', Float32, queue_size=10)
rospy.Subscriber('twist', Twist, self.twistCallback)
self.rate = rospy.get_param("~rate", 50)
self.timeout_ticks = rospy.get_param("~timeout_ticks", 2)
self.left = 0
self.right = 0
############################################################# 示例2: scaleWheel
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def scaleWheel():
rospy.init_node("wheel_scaler")
rospy.loginfo("wheel_scaler started")
scale = rospy.get_param('distance_scale', 1)
rospy.loginfo("wheel_scaler scale: %0.2f", scale)
rospy.Subscriber("lwheel", Int16, lwheelCallback)
rospy.Subscriber("rwheel", Int16, rwheelCallback)
lscaled_pub = rospy.Publisher("lwheel_scaled", Int16, queue_size=10)
rscaled_pub = rospy.Publisher("rwheel_scaled", Int16, queue_size=10)
### testing sleep CPU usage
r = rospy.Rate(50)
while not rospy.is_shutdown:
r.sleep()
rospy.spin() 示例3: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
###############################################
rospy.init_node("wheel_loopback");
self.nodename = rospy.get_name()
rospy.loginfo("%s started" % self.nodename)
self.rate = rospy.get_param("~rate", 200)
self.timeout_secs = rospy.get_param("~timeout_secs", 0.5)
self.ticks_meter = float(rospy.get_param('~ticks_meter', 50))
self.velocity_scale = float(rospy.get_param('~velocity_scale', 255))
self.latest_motor = 0
self.wheel = 0
rospy.Subscriber('motor', Int16, self.motor_callback)
self.pub_wheel = rospy.Publisher('wheel', Int16, queue_size=10)
############################################### 示例4: talker_ctrl
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def talker_ctrl():
global rate_value
rospy.init_node('usv_simple_ctrl', anonymous=True)
rate = rospy.Rate(rate_value) # 10h
# publishes to thruster and rudder topics
pub_motor = rospy.Publisher('thruster_command', JointState, queue_size=10)
pub_rudder = rospy.Publisher('joint_setpoint', JointState, queue_size=10)
pub_result = rospy.Publisher('move_usv/result', Float64, queue_size=10)
# subscribe to state and targer point topics
rospy.Subscriber("state", Odometry, get_pose) # get usv position (add 'gps' position latter)
rospy.Subscriber("move_usv/goal", Odometry, get_target) # get target position
while not rospy.is_shutdown():
try:
pub_motor.publish(thruster_ctrl_msg())
pub_rudder.publish(rudder_ctrl_msg())
pub_result.publish(verify_result())
rate.sleep()
except rospy.ROSInterruptException:
rospy.logerr("ROS Interrupt Exception! Just ignore the exception!")
except rospy.ROSTimeMovedBackwardsException:
rospy.logerr("ROS Time Backwards! Just ignore the exception!") 示例5: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
"""
Create HeadLiftJoy object.
"""
# params
self._head_axes = rospy.get_param('~head_axes', 3)
self._lift_axes = rospy.get_param('~lift_axes', 3)
self._head_button = rospy.get_param('~head_button', 4)
self._lift_button = rospy.get_param('~lift_button', 5)
# pubs
self._head_pub = rospy.Publisher('head_angle', Float64, queue_size=1)
self._lift_pub = rospy.Publisher('lift_height', Float64, queue_size=1)
# subs
self._joy_sub = rospy.Subscriber('joy', Joy, self._joy_cb, queue_size=1) 示例6: talker_ctrl
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def talker_ctrl():
global rate_value
global result
# publishes to thruster and rudder topics
pub_motor = rospy.Publisher('thruster_command', JointState, queue_size=10)
pub_result = rospy.Publisher('move_usv/result', Float64, queue_size=10)
rospy.init_node('usv_simple_ctrl', anonymous=True)
rate = rospy.Rate(rate_value) # 10h
# subscribe to state and targer point topics
rospy.Subscriber("state", Odometry, get_pose) # get usv position (add 'gps' position latter)
rospy.Subscriber("move_usv/goal", Odometry, get_target) # get target position
while not rospy.is_shutdown():
try:
pub_motor.publish(thruster_ctrl_msg())
pub_result.publish(verify_result())
rate.sleep()
except rospy.ROSInterruptException:
rospy.logerr("ROS Interrupt Exception! Just ignore the exception!")
except rospy.ROSTimeMovedBackwardsException:
rospy.logerr("ROS Time Backwards! Just ignore the exception!") 示例7: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
rospy.loginfo("Tianbot Racecar JoyTeleop Initializing...")
self._twist = Twist()
self._twist.linear.x = 1500
self._twist.angular.z = 90
self._deadman_pressed = False
self._zero_twist_published = False
self._cmd_vel_pub = rospy.Publisher('~/car/cmd_vel', Twist, queue_size=5)
self._joy_sub = rospy.Subscriber('/joy', Joy, self.joy_callback)
self._timer = rospy.Timer(rospy.Duration(0.05), self.joystick_controller)
self._axis_throttle = 1
_joy_mode = rospy.get_param("~joy_mode", "D").lower()
if _joy_mode == "d":
self._axis_servo = 2
if _joy_mode == "x":
self._axis_servo = 3
self._throttle_scale = rospy.get_param("~throttle_scale", 0.5)
self._servo_scale = rospy.get_param("~servo_scale", 1) 示例8: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self, goalListX, goalListY, retry, map_frame):
self.sub = rospy.Subscriber('move_base/result', MoveBaseActionResult, self.statusCB, queue_size=10)
self.pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)
# params & variables
self.goalListX = goalListX
self.goalListY = goalListY
self.retry = retry
self.goalId = 0
self.goalMsg = PoseStamped()
self.goalMsg.header.frame_id = map_frame
self.goalMsg.pose.orientation.z = 0.0
self.goalMsg.pose.orientation.w = 1.0
# Publish the first goal
time.sleep(1)
self.goalMsg.header.stamp = rospy.Time.now()
self.goalMsg.pose.position.x = self.goalListX[self.goalId]
self.goalMsg.pose.position.y = self.goalListY[self.goalId]
self.pub.publish(self.goalMsg)
rospy.loginfo("Initial goal published! Goal ID is: %d", self.goalId)
self.goalId = self.goalId + 1 示例9: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
super(WSG50Gripper, self).__init__()
self.max_release = 0
self.sem_list = [Semaphore(value = 0)]
self._status_mutex = Lock()
self._desired_gpos = GRIPPER_OPEN
self._gripper_speed = 300
self._force_counter = 0
self._integrate_gripper_force, self._last_integrate = 0., None
self._last_status_t = time.time()
self.num_timeouts = 0
self.gripper_pub = rospy.Publisher('/wsg_50_driver/goal_position', Cmd, queue_size=10)
rospy.Subscriber("/wsg_50_driver/status", Status, self._gripper_callback)
logging.getLogger('robot_logger').info("waiting for first status")
self.sem_list[0].acquire()
logging.getLogger('robot_logger').info('gripper initialized!')
self._bg = Thread(target=self._background_monitor)
self._bg.start() 示例10: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self, robot_name, print_debug, email_cred_file='', log_file='', control_rate=100, gripper_attached='default'):
super(WidowXController, self).__init__(robot_name, print_debug, email_cred_file, log_file, control_rate, gripper_attached)
self._redist_rate = rospy.Rate(50)
self._arbotix = ArbotiX('/dev/ttyUSB0')
assert self._arbotix.syncWrite(MAX_TORQUE_L, [[servo_id, 255, 0] for servo_id in SERVO_IDS]) != -1, "failure during servo configuring"
assert self._arbotix.syncWrite(TORQUE_LIMIT, [[servo_id, 255, 0] for servo_id in SERVO_IDS]) != -1, "failure during servo configuring"
self._joint_lock = Lock()
self._angles, self._velocities = {}, {}
rospy.Subscriber("/joint_states", JointState, self._joint_callback)
time.sleep(1)
self._joint_pubs = [rospy.Publisher('/{}/command'.format(name), Float64, queue_size=1) for name in JOINT_NAMES[:-1]]
self._gripper_pub = rospy.Publisher('/gripper_prismatic_joint/command', Float64, queue_size=1)
p.connect(p.DIRECT)
widow_x_urdf = '/'.join(__file__.split('/')[:-1]) + '/widowx/widowx.urdf'
self._armID = p.loadURDF(widow_x_urdf, useFixedBase=True)
p.resetBasePositionAndOrientation(self._armID, [0, 0, 0], p.getQuaternionFromEuler([np.pi, np.pi, np.pi]))
self._n_errors = 0 示例11: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self, topic_data, opencv_tracking=False, save_videos=False):
self._tracking_enabled, self._save_vides = opencv_tracking, save_videos
self._latest_image = LatestObservation(self._tracking_enabled, self._save_vides)
self._is_tracking = False
if self._tracking_enabled:
self.box_height = 80
self.bridge = CvBridge()
self._is_first_status, self._status_sem = True, Semaphore(value=0)
self._cam_height, self._cam_width = None, None
self._last_hash, self._num_repeats = None, 0
if self._save_vides:
self._buffers = []
self._saving = False
self._topic_data = topic_data
self._image_dtype = topic_data.dtype
rospy.Subscriber(topic_data.name, Image_msg, self.store_latest_im)
logging.getLogger('robot_logger').debug('downing sema on topic: {}'.format(topic_data.name))
self._status_sem.acquire()
logging.getLogger('robot_logger').info("Cameras {} subscribed: stream is {}x{}".format(self._topic_data.name, self._cam_width, self._cam_height)) 示例12: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
#############################################################
rospy.init_node("twist_to_motors")
nodename = rospy.get_name()
rospy.loginfo("%s started" % nodename)
self.w = rospy.get_param("~base_width", 0.2)
self.pub_lmotor = rospy.Publisher('lwheel_vtarget', Float32,queue_size=10)
self.pub_rmotor = rospy.Publisher('rwheel_vtarget', Float32,queue_size=10)
rospy.Subscriber('cmd_vel_mux/input/teleop', Twist, self.twistCallback)
self.rate = rospy.get_param("~rate", 50)
self.timeout_ticks = rospy.get_param("~timeout_ticks", 2)
self.left = 0
self.right = 0
############################################################# 示例13: __init__
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def __init__(self):
###############################################
rospy.init_node("wheel_loopback");
self.nodename = rospy.get_name()
rospy.loginfo("%s started" % self.nodename)
self.rate = rospy.get_param("~rate", 200)
self.timeout_secs = rospy.get_param("~timeout_secs", 0.5)
self.ticks_meter = float(rospy.get_param('~ticks_meter', 50))
self.velocity_scale = float(rospy.get_param('~velocity_scale', 255))
self.latest_motor = 0
self.wheel = 0
rospy.Subscriber('motor', Int16, self.motor_callback)
self.pub_wheel = rospy.Publisher('wheel', Int16,queue_size=10)
############################################### 示例14: listener
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def listener():
global obj
global pub
rospy.loginfo("Starting prediction node")
rospy.init_node('listener', anonymous = True)
rospy.Subscriber("sensor_read", Int32, read_sensor_data)
pub = rospy.Publisher('predict', Int32, queue_size=1)
obj = Classify_Data()
obj.read_file('pos_readings.csv')
obj.train()
rospy.spin() 示例15: listener
# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import Subscriber [as 别名]
def listener():
rospy.init_node('serial_adapter', anonymous=True)
# Declare the Subscriber to motors orders
rospy.Subscriber("arduino/servo", Int16, servoCallback, queue_size=2)
rospy.Subscriber("arduino/motor", Int8, motorCallback, queue_size=2)
rospy.spin()