Difference between revisions of "HamsterPython"
From cogniteam
| Line 20: | Line 20: | ||
def is_free(ranges ,start_index, end_index ,min_distance): | def is_free(ranges ,start_index, end_index ,min_distance): | ||
| + | #sub array from angle to angle | ||
s_ranges = ranges[start_index:end_index] | s_ranges = ranges[start_index:end_index] | ||
| − | b_ranges = | + | #filter the array |
| − | if len(b_ranges) > 1 :print "BLOCKED" | + | b_ranges = filter(lambda x: x <= min_distance, s_ranges) |
| + | if len(b_ranges) > 1 : print "BLOCKED" | ||
else : print "FREE" | else : print "FREE" | ||
| Line 34: | Line 36: | ||
#The agent number is printed on the Hamster cover | #The agent number is printed on the Hamster cover | ||
sub = rospy.Subscriber('/agent14/scan', LaserScan, callback) | sub = rospy.Subscriber('/agent14/scan', LaserScan, callback) | ||
| + | |||
| + | |||
rospy.spin() | rospy.spin() | ||
</syntaxhighlight> | </syntaxhighlight> | ||
Revision as of 13:54, 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 LaserScan
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) if len(b_ranges) > 1 : print "BLOCKED" else : print "FREE"
def callback(msg):
is_free(msg.ranges,160,200,0.2)
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>
