mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-09 02:31:14 +00:00
Actually added system_statuses node files & debug files in, symlinked to local catkin_ws for local make
This commit is contained in:
MatthewTaylor24
4
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rover/system_statuses/scripts/.idea/misc.xml
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8
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8
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12
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12
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188
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188
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26
rover/system_statuses/scripts/camera_2_updater.py
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26
rover/system_statuses/scripts/camera_2_updater.py
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#!/usr/bin/env python
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import rospy
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from system_statuses.msg import Camera2Changer
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def camera_2_changer():
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pub = rospy.Publisher('camera_2_changer_chatter', Camera2Changer, queue_size=10)
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rospy.init_node('camera_2_changer_talker', anonymous=True)
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# r = rospy.sleep(10) # 10hz
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msg = Camera2Changer()
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msg.camera_2_value = 0
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while not rospy.is_shutdown():
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msg.camera_2_value = (msg.camera_2_value + 1) % 2
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rospy.loginfo(msg)
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pub.publish(msg)
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# r.sleep()
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rospy.sleep(2.)
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if __name__ == '__main__':
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try:
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camera_2_changer()
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except rospy.ROSInterruptException:
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pass
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61
rover/system_statuses/scripts/system_statuses_node.py
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rover/system_statuses/scripts/system_statuses_node.py
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#!/usr/bin/env python
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import rospy, os.path
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from system_statuses.msg import RoverSysStatus, Camera2Changer
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class SystemStatuses:
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def __init__(self):
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self.system_path_locations = [
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'/dev/rover/camera_zed',
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'/dev/rover/camera_undercarriage',
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'/dev/rover/camera_gimbal',
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'/dev/rover/camera_main_navigation'
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]
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rospy.init_node('SystemStatuses')
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self.pub = rospy.Publisher('rover_system_status_chatter', RoverSysStatus, queue_size=10)
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# Test Subscription for updating camera_undercarriage
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rospy.Subscriber('camera_2_changer_chatter', Camera2Changer, self.__sub_callback)
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self.msg = RoverSysStatus()
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# Check if camera_zed is found
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self.msg.camera_zed = 1 if os.path.isfile(self.system_path_locations[0]) else 0
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# Check if camera_undercarriage is found
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self.msg.camera_undercarriage = 1 if os.path.isfile(self.system_path_locations[1]) else 0
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# Check if camera_gimbal is found
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self.msg.camera_gimbal = 1 if os.path.isfile(self.system_path_locations[2]) else 0
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# Check if camera_main_navigation is found
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self.msg.camera_main_navigation = 1 if os.path.isfile(self.system_path_locations[3]) else 0
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# self.msg.camera_zed = 0
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# self.msg.camera_undercarriage = 0
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# self.msg.camera_gimbal = 0
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# self.msg.camera_main_navigation = 0
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# Simple Subscriber test boolean -- camera_2_updated.py
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self.hasCameraUndercarriageChanged = False
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# Callback for test Subscription of camera_2_updater.py -- checks if camera_undercarriage
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# has changed, updates value, and updates bool for run->pub.publish to execute
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def __sub_callback(self, data):
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rospy.loginfo("Camera_undercarriage Status Changed: %d " % data.camera_2_value)
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if self.msg.camera_undercarriage != data.camera_2_value:
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self.msg.camera_undercarriage = data.camera_2_value
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self.hasCameraUndercarriageChanged = True
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def run(self):
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r = rospy.Rate(10)
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while not rospy.is_shutdown():
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if self.hasCameraUndercarriageChanged:
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rospy.loginfo(self.msg)
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self.pub.publish(self.msg)
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self.hasCameraUndercarriageChanged = False
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r.sleep()
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if __name__ == '__main__':
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system_status = SystemStatuses()
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system_status.run()
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