Difference between revisions of "HamsterPython"
| Line 17: | Line 17: | ||
#!/usr/bin/env python | #!/usr/bin/env python | ||
import rospy | import rospy | ||
| − | from sensor_msgs.msg import | + | from sensor_msgs.msg import Imu |
def is_free(ranges ,start_index, end_index ,min_distance): | def is_free(ranges ,start_index, end_index ,min_distance): | ||
| Line 24: | Line 24: | ||
#filter the array | #filter the array | ||
b_ranges = filter(lambda x: x <= min_distance, s_ranges) | b_ranges = filter(lambda x: x <= min_distance, s_ranges) | ||
| − | + | return len(b_ranges) == 0 | |
| − | |||
def callback(msg): | def callback(msg): | ||
| − | is_free(msg.ranges,160,200,0.2) | + | if is_free(msg.ranges,160,200,0.2): print "FREE" |
| + | else: print "BLOCKED" | ||
rospy.init_node('scan_values') | rospy.init_node('scan_values') | ||
Revision as of 14:37, 19 March 2019
Python setup
- Note you are on the HamsterNet
<syntaxhighlight lang="bash" line='line'>
$ export ROS_IP=<your IP>
</syntaxhighlight>
<syntaxhighlight lang="bash" line='line'>
$ export ROS_MASTER_URI=http://10.0.2.<HAMSTER AGENT Number>:11311
</syntaxhighlight>
Python Example 1
- Receive laser scan from robot to decide if free
<syntaxhighlight lang="python" line='line'>
- !/usr/bin/env python
import rospy from sensor_msgs.msg import Imu
def is_free(ranges ,start_index, end_index ,min_distance): #sub array from angle to angle s_ranges = ranges[start_index:end_index] #filter the array b_ranges = filter(lambda x: x <= min_distance, s_ranges) return len(b_ranges) == 0
def callback(msg):
if is_free(msg.ranges,160,200,0.2): print "FREE"
else: print "BLOCKED"
rospy.init_node('scan_values')
- Put your Hamster number instead of agent<number>
- The agent number is printed on the Hamster cover
sub = rospy.Subscriber('/agent14/scan', LaserScan, callback)
rospy.spin()
</syntaxhighlight>
<syntaxhighlight lang="python" line='line'>
- !/usr/bin/env python
import rospy import math from sensor_msgs.msg import Imu from tf.transformations import euler_from_quaternion, quaternion_from_euler
def calculate_robot_angle(orientation): quaternion = ( orientation.x, orientation.y, orientation.z, orientation.w) euler = euler_from_quaternion(quaternion) roll = euler[0] pitch = euler[1] yaw = euler[2] return math.degrees(yaw)
prev_angle = 0 def callback(msg): global prev_angle curr_angle = calculate_robot_angle(msg.orientation) if curr_angle > prev_angle : print "TURINING LEFT" else: print "TURINIGN RIGHT" prev_angle = curr_angle
rospy.init_node('imu_values')
last_angle = 0
- Put your Hamster number instead of agent<number>
- The agent number is printed on the Hamster cover
sub = rospy.Subscriber('/agent14/imu', Imu, callback)
rospy.spin()
</syntaxhighlight>
