Python msg.Float64方法代码示例

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [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) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def __init__(self):
        # setup
        CozmoTeleop.settings = termios.tcgetattr(sys.stdin)
        atexit.register(self.reset_terminal)

        # vars
        self.head_angle = STD_HEAD_ANGLE
        self.lift_height = STD_LIFT_HEIGHT

        # params
        self.lin_vel = rospy.get_param('~lin_vel', 0.2)
        self.ang_vel = rospy.get_param('~ang_vel', 1.5757)

        # pubs
        self._head_pub = rospy.Publisher('head_angle', Float64, queue_size=1)
        self._lift_pub = rospy.Publisher('lift_height', Float64, queue_size=1)
        self._cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [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!") 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [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!") 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [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 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def __init__(self, ns, stack_offset):
        self.__ns = ns
        self.__stack_offset = stack_offset
        print("stack_offset: %d"%self.__stack_offset)
        self.__input_images = deque(maxlen=4 * self.__stack_offset)

        #Input state
        self.__input_img_pub1 = rospy.Publisher('%s/state_image1' % (self.__ns), Image, queue_size=1)
        self.__input_img_pub2 = rospy.Publisher('%s/state_image2' % (self.__ns), Image, queue_size=1)
        self.__input_img_pub3 = rospy.Publisher('%s/state_image3' % (self.__ns), Image, queue_size=1)
        self.__input_img_pub4 = rospy.Publisher('%s/state_image4' % (self.__ns), Image, queue_size=1)
        self.__occ_grid_pub = rospy.Publisher('%s/rl_map' % (self.__ns), OccupancyGrid, queue_size=1)
        self.__input_scan_pub = rospy.Publisher('%s/state_scan' % (self.__ns), LaserScan, queue_size=1)

        # reward info
        self.__rew_pub = rospy.Publisher('%s/reward' % (self.__ns), Marker, queue_size=1)
        self.__rew_num_pub = rospy.Publisher('%s/reward_num' % (self.__ns), Float64, queue_size=1)

        # Waypoint info
        self.__wp_pub1 = rospy.Publisher('%s/wp_vis1' % (self.__ns), PointStamped, queue_size=1)
        self.__wp_pub2 = rospy.Publisher('%s/wp_vis2' % (self.__ns), PointStamped, queue_size=1)
        self.__wp_pub3 = rospy.Publisher('%s/wp_vis3' % (self.__ns), PointStamped, queue_size=1)
        self.__wp_pub4 = rospy.Publisher('%s/wp_vis4' % (self.__ns), PointStamped, queue_size=1) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def __init__(self):
        rospy.init_node('gripper_controller')
        self.msg = None
       
       
        self.r_pub = rospy.Publisher('gripper_controller/command',
                Float64,
                queue_size=10)
        """
        self.t_pub = rospy.Publisher('arm_controller/command',
                JointTrajectory,
                queue_size=10)
        self.js_sub = rospy.Subscriber('joint_states', JointState,
                self._jointStateCb)
        """

        # subscribe to command and then spin
        self.server = actionlib.SimpleActionServer('~gripper_action', GripperCommandAction, execute_cb=self.actionCb, auto_start=False)
        self.server.start()
        rospy.spin() 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def talker_ctrl():
    global rate_value
    global currentHeading
    global windDir 
    global isTacking
    global heeling
    global spHeading

    rospy.init_node('usv_simple_ctrl', anonymous=True)
    rate = rospy.Rate(rate_value) # 10h
    # publishes to thruster and rudder topics
    #pub_sail = rospy.Publisher('angleLimits', Float64, queue_size=10)
    pub_rudder = rospy.Publisher('joint_setpoint', JointState, queue_size=10)
    pub_result = rospy.Publisher('move_usv/result', Float64, queue_size=10)
    pub_heading = rospy.Publisher('currentHeading', Float64, queue_size=10)
    pub_windDir = rospy.Publisher('windDirection', Float64, queue_size=10)
    pub_heeling = rospy.Publisher('heeling', Float64, queue_size=10)
    pub_spHeading = rospy.Publisher('spHeading', 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_rudder.publish(rudder_ctrl_msg())
            #pub_sail.publish(sail_ctrl())
            pub_result.publish(verify_result())
            pub_heading.publish(currentHeading)
            pub_windDir.publish(windDir)
            pub_heeling.publish(heeling)
            pub_spHeading.publish(spHeading)
            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!") 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def talker_ctrl():
    global rate_value
    global currentHeading
    global windDir 
    rospy.init_node('usv_simple_ctrl', anonymous=True)
    rate = rospy.Rate(rate_value) # 10h
    # publishes to thruster and rudder topics
    #pub_sail = rospy.Publisher('angleLimits', Float64, queue_size=10)
    pub_rudder = rospy.Publisher('joint_setpoint', JointState, queue_size=10)
    pub_result = rospy.Publisher('move_usv/result', Float64, queue_size=10)
    pub_heading= rospy.Publisher('currentHeading', Float64, queue_size=10)
    pub_windDir= rospy.Publisher('windDirection', 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_rudder.publish(rudder_ctrl_msg())
            #pub_sail.publish(sail_ctrl())
            pub_result.publish(verify_result())
            pub_heading.publish(currentHeading)
            pub_windDir.publish(windDir)
            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!") 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def _move_to_target_joints(self, joint_values):
        for value, pub in zip(joint_values, self._joint_pubs):
            pub.publish(Float64(value)) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def move_to_neutral(self, duration=2):
        self._n_errors = 0
        self._lerp_joints(np.array(NEUTRAL_VALUES), duration)
        self._gripper_pub.publish(Float64(GRIPPER_DROP[0]))
        time.sleep(GRIPPER_WAIT) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def open_gripper(self, wait = False):                                       # should likely wrap separate gripper control class for max re-usability
        self._gripper_pub.publish(Float64(self.GRIPPER_OPEN))
        time.sleep(GRIPPER_WAIT) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def close_gripper(self, wait = False):                                      # should likely wrap separate gripper control class for max re-usability
        self._gripper_pub.publish(Float64(self.GRIPPER_CLOSE))
        time.sleep(GRIPPER_WAIT) 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def take_sim_step(self):
        """
        Executing one simulation step of 0.1 sec
        """
        msg = Float64()
        msg.data = self.__update_rate
        rospy.wait_for_service('%s/step' % self.NS)
        self.__sim_step(msg)
        return 

# 需要导入模块: from std_msgs import msg [as 别名]
# 或者: from std_msgs.msg import Float64 [as 别名]
def show_reward(self, reward):
        """
        Publishing reward value as marker.
        :param reward
        """
        # Publish reward as Marker
        msg = Marker()
        msg.header.frame_id = "/base_footprint"
        msg.ns = ""
        msg.id = 0
        msg.type = msg.TEXT_VIEW_FACING
        msg.action = msg.ADD

        msg.pose.position.x = 0.0
        msg.pose.position.y = 1.0
        msg.pose.position.z = 0.0
        msg.pose.orientation.x = 0.0
        msg.pose.orientation.y = 0.0
        msg.pose.orientation.z = 0.0
        msg.pose.orientation.w = 1.0

        msg.text = "%f"%reward

        msg.scale.x = 10.0
        msg.scale.y = 10.0
        msg.scale.z = 1.0

        msg.color.r = 0.3
        msg.color.g = 0.4
        msg.color.b = 1.0
        msg.color.a = 1.0
        self.__rew_pub.publish(msg)

        # Publish reward as number
        msg = Float64()
        msg.data = reward
        self. __rew_num_pub.publish(msg)