Python rospy.get_name方法代码示例

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [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
        
    ############################################################# 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [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)
        
    ############################################### 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self):
        self._ns = "/robot/gripper_action_server"

        if demo_constants.is_real_robot():
            self._gripper = PSGGripper() # intera_interface.Gripper()
        else:
            self._gripper = intera_interface.Gripper()

        # Action Server
        self._server = actionlib.SimpleActionServer(
            self._ns,
            GripperCommandAction,
            execute_cb=self._on_gripper_action,
            auto_start=False)
        self._action_name = rospy.get_name()
        self._server.start()
        self._gripper.set_dead_zone("0.021")

        # Action Feedback/Result
        self.feedback_msg = GripperCommandFeedback()
        self.result_msg = GripperCommandResult()

        # Initialize Parameters
        self._timeout = 5.0 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [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
        
    ############################################################# 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [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)
        
    ############################################### 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self, name):
        """
        :param name: The name of the node
        """
        rospy.logdebug( "[" + rospy.get_name() + "]: " + "Starting " )
        self._lib = ProbRepLib()
        self.services = {}
        for namespace, services in ServiceManager.available_services.items():
            # Automatically creating a service for all the entries in 'qsrrep_lib.rep_io.available_services'
            # Passing the key of the dict entry to the service to identify the right function to call
            for i, service in enumerate(services):
                # The outer lambda function creates a new scope for the inner lambda function
                # This is necessary to preserve the value of k, otherwise it will have the same value for all services
                # x will be substituded by the service request
                rospy.logdebug( "[" + rospy.get_name() + "]: " + "Creating service: ["+namespace+"]["+service+"]" )
                self.services[service] = rospy.Service("~"+namespace+"/"+service, QSRProbRep, (lambda a,b: lambda x: self.callback(x, a, b))(namespace,service))
                rospy.logdebug( "[" + rospy.get_name() + "]: " + "Created" )
        rospy.logdebug( "[" + rospy.get_name() + "]: " + "Done" ) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [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', 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
        
    ############################################################# 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def start(self):
        """Start the sensor.
        """
        if rospy.get_name() == '/unnamed':
            raise ValueError('PhoXi sensor must be run inside a ros node!')

        # Connect to the cameras
        if not self._connect_to_sensor():
            self._running = False
            return False

        # Set up subscribers for camera data
        self._color_im_sub = rospy.Subscriber('/phoxi_camera/texture', ImageMessage, self._color_im_callback)
        self._depth_im_sub = rospy.Subscriber('/phoxi_camera/depth_map', ImageMessage, self._depth_im_callback)
        self._normal_map_sub = rospy.Subscriber('/phoxi_camera/normal_map', ImageMessage, self._normal_map_callback)

        self._running = True

        return True 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self, service_node_name="qsr_lib"):
        """Constructor.

        :param service_node_name: Node name of the service.
        :type service_node_name: str
        """
        self.service_topic_names = {"request": service_node_name+"/request"}
        """dict: Topic names of the services."""

        rospy.logdebug( "[" + rospy.get_name() + "]: " + "Waiting for service '" + self.service_topic_names["request"] + "' to come up")
        rospy.wait_for_service(self.service_topic_names["request"])
        rospy.logdebug( "[" + rospy.get_name() + "]: " + "done") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def start(self):
        """Start the sensor.
        """
        if rospy.get_name() == '/unnamed':
            raise ValueError('Weight sensor must be run inside a ros node!')
        self._weight_subscriber = rospy.Subscriber('weight_sensor/weights', Float32MultiArray, self._weights_callback)
        self._running = True 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self):
    #############################################################################
        rospy.init_node("diff_tf")
        self.nodename = rospy.get_name()
        rospy.loginfo("-I- %s started" % self.nodename)
        
        #### parameters #######
        self.rate = rospy.get_param('~rate',10.0)  # the rate at which to publish the transform
        self.ticks_meter = float(rospy.get_param('ticks_meter', 50))  # The number of wheel encoder ticks per meter of travel
        self.base_width = float(rospy.get_param('~base_width', 0.245)) # The wheel base width in meters
        
        self.base_frame_id = rospy.get_param('~base_frame_id','base_link') # the name of the base frame of the robot
        self.odom_frame_id = rospy.get_param('~odom_frame_id', 'odom') # the name of the odometry reference frame
        
        self.encoder_min = rospy.get_param('encoder_min', -32768)
        self.encoder_max = rospy.get_param('encoder_max', 32768)
        self.encoder_low_wrap = rospy.get_param('wheel_low_wrap', (self.encoder_max - self.encoder_min) * 0.3 + self.encoder_min )
        self.encoder_high_wrap = rospy.get_param('wheel_high_wrap', (self.encoder_max - self.encoder_min) * 0.7 + self.encoder_min )
 
        self.t_delta = rospy.Duration(1.0/self.rate)
        self.t_next = rospy.Time.now() + self.t_delta
        
        # internal data
        self.enc_left = None        # wheel encoder readings
        self.enc_right = None
        self.left = 0               # actual values coming back from robot
        self.right = 0
        self.lmult = 0
        self.rmult = 0
        self.prev_lencoder = 0
        self.prev_rencoder = 0
        self.x = 0                  # position in xy plane 
        self.y = 0
        self.th = 0
        self.dx = 0                 # speeds in x/rotation
        self.dr = 0
        self.then = rospy.Time.now()
        
        # subscriptions
        rospy.Subscriber("lwheel", Int16, self.lwheelCallback)
        rospy.Subscriber("rwheel", Int16, self.rwheelCallback)
        self.odomPub = rospy.Publisher("odom", Odometry, queue_size=10)
        self.odomBroadcaster = TransformBroadcaster()
        
    ############################################################################# 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self):
    #####################################################
        rospy.init_node("pid_velocity")
        self.nodename = rospy.get_name()
        rospy.loginfo("%s started" % self.nodename)
        
        ### initialize variables
        self.target = 0
        self.motor = 0
        self.vel = 0
        self.integral = 0
        self.error = 0
        self.derivative = 0
        self.previous_error = 0
        self.wheel_prev = 0
        self.wheel_latest = 0
        self.then = rospy.Time.now()
        self.wheel_mult = 0
        self.prev_encoder = 0
        
        ### get parameters #### 
        self.Kp = rospy.get_param('~Kp',10)
        self.Ki = rospy.get_param('~Ki',10)
        self.Kd = rospy.get_param('~Kd',0.001)
        self.out_min = rospy.get_param('~out_min',-255)
        self.out_max = rospy.get_param('~out_max',255)
        self.rate = rospy.get_param('~rate',30)
        self.rolling_pts = rospy.get_param('~rolling_pts',2)
        self.timeout_ticks = rospy.get_param('~timeout_ticks',4)
        self.ticks_per_meter = rospy.get_param('ticks_meter', 20)
        self.vel_threshold = rospy.get_param('~vel_threshold', 0.001)
        self.encoder_min = rospy.get_param('encoder_min', -32768)
        self.encoder_max = rospy.get_param('encoder_max', 32768)
        self.encoder_low_wrap = rospy.get_param('wheel_low_wrap', (self.encoder_max - self.encoder_min) * 0.3 + self.encoder_min )
        self.encoder_high_wrap = rospy.get_param('wheel_high_wrap', (self.encoder_max - self.encoder_min) * 0.7 + self.encoder_min )
        self.prev_vel = [0.0] * self.rolling_pts
        self.wheel_latest = 0.0
        self.prev_pid_time = rospy.Time.now()
        rospy.logdebug("%s got Kp:%0.3f Ki:%0.3f Kd:%0.3f tpm:%0.3f" % (self.nodename, self.Kp, self.Ki, self.Kd, self.ticks_per_meter))
        
        #### subscribers/publishers 
        rospy.Subscriber("wheel", Int16, self.wheelCallback) 
        rospy.Subscriber("wheel_vtarget", Float32, self.targetCallback) 
        self.pub_motor = rospy.Publisher('motor_cmd',Float32, queue_size=10) 
        self.pub_vel = rospy.Publisher('wheel_vel', Float32, queue_size=10)
   
        
    ##################################################### 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self):
    #############################################################################
        rospy.init_node("diff_tf")
        self.nodename = rospy.get_name()
        rospy.loginfo("-I- %s started" % self.nodename)
        
        #### parameters #######
        self.rate = rospy.get_param('~rate',10.0)  # the rate at which to publish the transform
        self.ticks_meter = float(rospy.get_param('ticks_meter', 50))  # The number of wheel encoder ticks per meter of travel
        self.base_width = float(rospy.get_param('~base_width', 0.3)) # The wheel base width in meters
        
        self.base_frame_id = rospy.get_param('~base_frame_id','base_footprint') # the name of the base frame of the robot
        self.odom_frame_id = rospy.get_param('~odom_frame_id', 'odom') # the name of the odometry reference frame
        
        self.encoder_min = rospy.get_param('encoder_min', -2147483648)
        self.encoder_max = rospy.get_param('encoder_max', 2147483648)
        self.encoder_low_wrap = rospy.get_param('wheel_low_wrap', (self.encoder_max - self.encoder_min) * 0.3 + self.encoder_min )
        self.encoder_high_wrap = rospy.get_param('wheel_high_wrap', (self.encoder_max - self.encoder_min) * 0.7 + self.encoder_min )
 
        self.t_delta = rospy.Duration(1.0/self.rate)
        self.t_next = rospy.Time.now() + self.t_delta
        
        # internal data
        self.enc_left = None        # wheel encoder readings
        self.enc_right = None
        self.left = 0               # actual values coming back from robot
        self.right = 0
        self.lmult = 0
        self.rmult = 0
        self.prev_lencoder = 0
        self.prev_rencoder = 0
        self.x = 0                  # position in xy plane 
        self.y = 0
        self.th = 0
        self.dx = 0                 # speeds in x/rotation
        self.dr = 0
        self.then = rospy.Time.now()
        
        # subscriptions
        rospy.Subscriber("lwheel", Int64, self.lwheelCallback)
        rospy.Subscriber("rwheel", Int64, self.rwheelCallback)
        self.odomPub = rospy.Publisher("odom", Odometry,queue_size=10)
        self.odomBroadcaster = TransformBroadcaster()
        
    ############################################################################# 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self):
    #####################################################
        rospy.init_node("lpid_velocity")
        self.nodename = rospy.get_name()
        rospy.loginfo("%s started" % self.nodename)
        
        ### initialize variables
        self.target = 0
        self.motor = 0
        self.vel = 0
        self.integral = 0
        self.error = 0
        self.derivative = 0
        self.previous_error = 0
        self.wheel_prev = 0
        self.wheel_latest = 0
        self.then = rospy.Time.now()
        self.wheel_mult = 0
        self.prev_encoder = 0
        
        ### get parameters #### 
        self.Kp = rospy.get_param('~Kp',10)
        self.Ki = rospy.get_param('~Ki',10)
        self.Kd = rospy.get_param('~Kd',0.001)
        self.out_min = rospy.get_param('~out_min',-255)
        self.out_max = rospy.get_param('~out_max',255)
        self.rate = rospy.get_param('~rate',30)
        self.rolling_pts = rospy.get_param('~rolling_pts',2)
        self.timeout_ticks = rospy.get_param('~timeout_ticks',4)
        self.ticks_per_meter = rospy.get_param('ticks_meter', 20)
        self.vel_threshold = rospy.get_param('~vel_threshold', 0.001)
        self.encoder_min = rospy.get_param('encoder_min', -32768)
        self.encoder_max = rospy.get_param('encoder_max', 32768)
        self.encoder_low_wrap = rospy.get_param('wheel_low_wrap', (self.encoder_max - self.encoder_min) * 0.3 + self.encoder_min )
        self.encoder_high_wrap = rospy.get_param('wheel_high_wrap', (self.encoder_max - self.encoder_min) * 0.7 + self.encoder_min )
        self.prev_vel = [0.0] * self.rolling_pts
        self.wheel_latest = 0.0
        self.prev_pid_time = rospy.Time.now()
        rospy.logdebug("%s got Kp:%0.3f Ki:%0.3f Kd:%0.3f tpm:%0.3f" % (self.nodename, self.Kp, self.Ki, self.Kd, self.ticks_per_meter))
        
        #### subscribers/publishers 
        rospy.Subscriber("wheel", Int16, self.wheelCallback) 
        rospy.Subscriber("wheel_vtarget", Float32, self.targetCallback) 
        self.pub_motor = rospy.Publisher('motor_cmd',Float32,queue_size=10) 
        self.pub_vel = rospy.Publisher('wheel_vel', Float32,queue_size=10)
   
        
    ##################################################### 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import get_name [as 别名]
def __init__(self):
    #####################################################
        rospy.init_node("rpid_velocity")
        self.nodename = rospy.get_name()
        rospy.loginfo("%s started" % self.nodename)
        
        ### initialize variables
        self.target = 0
        self.motor = 0
        self.vel = 0
        self.integral = 0
        self.error = 0
        self.derivative = 0
        self.previous_error = 0
        self.wheel_prev = 0
        self.wheel_latest = 0
        self.then = rospy.Time.now()
        self.wheel_mult = 0
        self.prev_encoder = 0
        
        ### get parameters #### 
        self.Kp = rospy.get_param('~Kp',10)
        self.Ki = rospy.get_param('~Ki',10)
        self.Kd = rospy.get_param('~Kd',0.001)
        self.out_min = rospy.get_param('~out_min',-255)
        self.out_max = rospy.get_param('~out_max',255)
        self.rate = rospy.get_param('~rate',30)
        self.rolling_pts = rospy.get_param('~rolling_pts',2)
        self.timeout_ticks = rospy.get_param('~timeout_ticks',4)
        self.ticks_per_meter = rospy.get_param('ticks_meter', 20)
        self.vel_threshold = rospy.get_param('~vel_threshold', 0.001)
        self.encoder_min = rospy.get_param('encoder_min', -32768)
        self.encoder_max = rospy.get_param('encoder_max', 32768)
        self.encoder_low_wrap = rospy.get_param('wheel_low_wrap', (self.encoder_max - self.encoder_min) * 0.3 + self.encoder_min )
        self.encoder_high_wrap = rospy.get_param('wheel_high_wrap', (self.encoder_max - self.encoder_min) * 0.7 + self.encoder_min )
        self.prev_vel = [0.0] * self.rolling_pts
        self.wheel_latest = 0.0
        self.prev_pid_time = rospy.Time.now()
        rospy.logdebug("%s got Kp:%0.3f Ki:%0.3f Kd:%0.3f tpm:%0.3f" % (self.nodename, self.Kp, self.Ki, self.Kd, self.ticks_per_meter))
        
        #### subscribers/publishers 
        rospy.Subscriber("wheel", Int16, self.wheelCallback) 
        rospy.Subscriber("wheel_vtarget", Float32, self.targetCallback) 
        self.pub_motor = rospy.Publisher('motor_cmd',Float32,queue_size=10) 
        self.pub_vel = rospy.Publisher('wheel_vel', Float32,queue_size=10)
   
        
    #####################################################