Python RosUtils.prefferJroscore方法代碼示例

# 需要導入模塊: from nengoros.comm.rosutils import RosUtils [as 別名]
# 或者: from nengoros.comm.rosutils.RosUtils import prefferJroscore [as 別名]
net.add_to_nengo()  # here: delete old (toplevel) network and replace it with the newly CREATED one

# some default imports copied from nef
from ca.nengo.util import VisiblyMutableUtils
import java
import inspect
import warnings
# import my custom classes here:
from nengoros.modules.impl import DefaultNeuralModule as NeuralModule
from nengoros.comm.nodeFactory import NodeGroup as NodeGroup
from nengoros.comm.rosutils import RosUtils as RosUtils

#####################################################################
# setup the ROS utils (optional, takes effect only if ROS found) 
RosUtils.setAutorun(True)
RosUtils.prefferJroscore(False)

# define nodes I want to use 
turtlesim = "../testnodes/turtlesim/turtlesim_node"  # turtle under this project
act =   "resender.turtle.Controller";
sense = "resender.turtle.PositionSensor";

# create group for turtle
g = NodeGroup("zelvicka", True);    # True menas that group is independent, can be pushed into namespace 
g.addNC(turtlesim, "zelva", "native");  
g.addNC(act, "actuators", "java");      
g.addNC(sense, "sensors", "java");
 
# create identical group for another turtle
g2 = NodeGroup("zelvicka", True);
g2.addNC(turtlesim, "zelva", "native");  

# 需要導入模塊: from nengoros.comm.rosutils import RosUtils [as 別名]
# 或者: from nengoros.comm.rosutils.RosUtils import prefferJroscore [as 別名]
from ca.nengo.model.impl import FunctionInput
from ca.nengo.model import Units
from nengoros.modules.impl.vivae import VivaeNeuralModule as NeuralModule
from nengoros.comm.nodeFactory import NodeGroup as NodeGroup
from nengoros.comm.rosutils import RosUtils as RosUtils
from nengoros.modules.impl.vivae.impl import SimulationControls as Controls
#from vivae.ros import Simulator as Simulator

# creates nef network and adds it to nengo (this must be first in the script) 
net=nef.Network('Vivae tests')
net.add_to_nengo()  # here: delete old (toplevel) network and replace it with the newly CREATED one

################################## 
################# setup the ROS utils (optional) 
#RosUtils.setAutorun(False)     # Do we want to autorun roscore and rxgraph? (tru by default)
RosUtils.prefferJroscore(False) # Turlte prefers roscore before jroscore (don't know why..) 

################################## 
################# define the group and start it
modem  = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"; # custom modem here
# this is launch command which calls the RosRun with name of ControlsServer as parameter
#vvv = ["./sb/../../../../simulators/vivae/build/install/vivae/bin/vivae","vivae.ros.simulatorControlsServer.ControlsServer"]


vvv = "vivae.ros.simulatorControlsServer.ControlsServer"         # actual Vivae simulator, provies services

# create group of nodes
g = NodeGroup("vivae", True);               # create default group of nodes
g.addNC(vvv, "vivaeSimulator", "java");   # run the simulator..
g.addNC(modem,"modem","modem")              # add default modem..
g.startGroup()                              # start group normally