Python rospy.loginfo() Examples
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code examples of rospy.loginfo().
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Example #1
Source File: multi_goals.py From tianbot_racecar with GNU General Public License v3.0 | 8 votes |
def __init__(self, goalListX, goalListY, retry, map_frame): self.sub = rospy.Subscriber('move_base/result', MoveBaseActionResult, self.statusCB, queue_size=10) self.pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10) # params & variables self.goalListX = goalListX self.goalListY = goalListY self.retry = retry self.goalId = 0 self.goalMsg = PoseStamped() self.goalMsg.header.frame_id = map_frame self.goalMsg.pose.orientation.z = 0.0 self.goalMsg.pose.orientation.w = 1.0 # Publish the first goal time.sleep(1) self.goalMsg.header.stamp = rospy.Time.now() self.goalMsg.pose.position.x = self.goalListX[self.goalId] self.goalMsg.pose.position.y = self.goalListY[self.goalId] self.pub.publish(self.goalMsg) rospy.loginfo("Initial goal published! Goal ID is: %d", self.goalId) self.goalId = self.goalId + 1
Example #2
Source File: amazonpolly.py From tts-ros1 with Apache License 2.0 | 8 votes |
def start(self, node_name='polly_node', service_name='polly'): """The entry point of a ROS service node. Details of the service API can be found in Polly.srv. :param node_name: name of ROS node :param service_name: name of ROS service :return: it doesn't return """ rospy.init_node(node_name) service = rospy.Service(service_name, Polly, self._node_request_handler) rospy.loginfo('polly running: {}'.format(service.uri)) rospy.spin()
Example #3
Source File: ros_agent.py From scenario_runner with MIT License | 7 votes |
def publish_plan(self): """ publish the global plan """ msg = Path() msg.header.frame_id = "/map" msg.header.stamp = rospy.Time.now() for wp in self._global_plan_world_coord: pose = PoseStamped() pose.pose.position.x = wp[0].location.x pose.pose.position.y = -wp[0].location.y pose.pose.position.z = wp[0].location.z quaternion = tf.transformations.quaternion_from_euler( 0, 0, -math.radians(wp[0].rotation.yaw)) pose.pose.orientation.x = quaternion[0] pose.pose.orientation.y = quaternion[1] pose.pose.orientation.z = quaternion[2] pose.pose.orientation.w = quaternion[3] msg.poses.append(pose) rospy.loginfo("Publishing Plan...") self.waypoint_publisher.publish(msg)
Example #4
Source File: wheel_scaler.py From differential-drive with GNU General Public License v3.0 | 7 votes |
def scaleWheel(): rospy.init_node("wheel_scaler") rospy.loginfo("wheel_scaler started") scale = rospy.get_param('distance_scale', 1) rospy.loginfo("wheel_scaler scale: %0.2f", scale) rospy.Subscriber("lwheel", Int16, lwheelCallback) rospy.Subscriber("rwheel", Int16, rwheelCallback) lscaled_pub = rospy.Publisher("lwheel_scaled", Int16, queue_size=10) rscaled_pub = rospy.Publisher("rwheel_scaled", Int16, queue_size=10) ### testing sleep CPU usage r = rospy.Rate(50) while not rospy.is_shutdown: r.sleep() rospy.spin()
Example #5
Source File: audio_server.py From dialogflow_ros with MIT License | 6 votes |
def __init__(self): FORMAT = pyaudio.paInt16 CHANNELS = 1 RATE = 16000 CHUNK = 4096 self.audio = pyaudio.PyAudio() self.stream = self.audio.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK, stream_callback=self._callback) self.serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.read_list = [self.serversocket] self._server_name = rospy.get_param('/dialogflow_client/server_name', '127.0.0.1') self._port = rospy.get_param('/dialogflow_client/port', 4444) rospy.loginfo("DF_CLIENT: Audio Server Started!")
Example #6
Source File: wheel_loopback.py From differential-drive with GNU General Public License v3.0 | 6 votes |
def __init__(self): ############################################### rospy.init_node("wheel_loopback"); self.nodename = rospy.get_name() rospy.loginfo("%s started" % self.nodename) self.rate = rospy.get_param("~rate", 200) self.timeout_secs = rospy.get_param("~timeout_secs", 0.5) self.ticks_meter = float(rospy.get_param('~ticks_meter', 50)) self.velocity_scale = float(rospy.get_param('~velocity_scale', 255)) self.latest_motor = 0 self.wheel = 0 rospy.Subscriber('motor', Int16, self.motor_callback) self.pub_wheel = rospy.Publisher('wheel', Int16, queue_size=10) ###############################################
Example #7
Source File: wheel_loopback.py From differential-drive with GNU General Public License v3.0 | 6 votes |
def spin(self): ############################################### r = rospy.Rate self.secs_since_target = self.timeout_secs self.then = rospy.Time.now() self.latest_msg_time = rospy.Time.now() rospy.loginfo("-D- spinning") ###### main loop ######### while not rospy.is_shutdown(): while not rospy.is_shutdown() and self.secs_since_target < self.timeout_secs: self.spinOnce() r.sleep self.secs_since_target = rospy.Time.now() - self.latest_msg_time self.secs_since_target = self.secs_since_target.to_sec() #rospy.loginfo(" inside: secs_since_target: %0.3f" % self.secs_since_target) # it's been more than timeout_ticks since we recieved a message self.secs_since_target = rospy.Time.now() - self.latest_msg_time self.secs_since_target = self.secs_since_target.to_sec() # rospy.loginfo(" outside: secs_since_target: %0.3f" % self.secs_since_target) self.velocity = 0 r.sleep ###############################################
Example #8
Source File: virtual_joystick.py From differential-drive with GNU General Public License v3.0 | 6 votes |
def initUI(self): ##################################################################### img_path = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) + "/../images/crosshair.jpg" rospy.loginfo("initUI img_path: %s" % img_path) self.statusBar() self.setStyleSheet("QMainWindow { border-image: url(%s); }" % img_path) self.setGeometry(0, 600, 200, 200) self.setWindowTitle('Virtual Joystick') self.show() self.timer = QtCore.QBasicTimer() self.statusBar().showMessage('started') #####################################################################
Example #9
Source File: virtual_joystick.py From differential-drive with GNU General Public License v3.0 | 6 votes |
def pubTwist(self): ####################################################### # rospy.loginfo("publishing twist from (%0.3f,%0.3f)" %(self.x,self.y)) self.twist = Twist() self.twist.linear.x = (1-self.y) * (x_max - x_min) + x_min self.twist.linear.y = 0 self.twist.linear.z = 0 self.twist.angular.x = 0 self.twist.angular.y = 0 self.twist.angular.z = (1-self.x) * (r_max - r_min) + r_min if self.twist.linear.x > x_max: self.twist.linear.x = x_max if self.twist.linear.x < x_min: self.twist.linear.x = x_min if self.twist.angular.z > r_max: self.twist.angular.z = r_max if self.twist.angular.z < r_min: self.twist.angular.z = r_min self.pub_twist.publish( self.twist ) ########################################################################## ##########################################################################
Example #10
Source File: twist_to_motors.py From differential-drive with GNU General Public License v3.0 | 6 votes |
def spinOnce(self): ############################################################# # dx = (l + r) / 2 # dr = (r - l) / w self.right = 1.0 * self.dx + self.dr * self.w / 2 self.left = 1.0 * self.dx - self.dr * self.w / 2 # rospy.loginfo("publishing: (%d, %d)", left, right) self.pub_lmotor.publish(self.left) self.pub_rmotor.publish(self.right) self.ticks_since_target += 1 #############################################################
Example #11
Source File: boat_diff_vel_ctrl.py From usv_sim_lsa with Apache License 2.0 | 6 votes |
def vel_ctrl(self): self.lin_vel = self.target_vel.linear.x - self.usv_vel.twist.twist.linear.x self.lin_vel = self.lin_vel * self.kp_lin + self.I_lin(self.lin_vel) #if self.target_vel.angular.z != self.target_vel_ant.angular.z: # self.I_ant_ang = 0 if self.target_vel.angular.z == 0: self.vel_left = self.lin_vel self.vel_right = self.lin_vel else: self.ang_vel = self.target_vel.angular.z - self.usv_vel.twist.twist.angular.z self.erro = self.ang_vel self.ang_vel = self.ang_vel * self.kp_ang + self.I_ang(self.ang_vel) self.vel_left = self.lin_vel - self.ang_vel self.vel_right = self.lin_vel + self.ang_vel self.vel_left = self.sat_thruster(self.vel_left) self.vel_right = self.sat_thruster(self.vel_right) msg = "atual: {0}; desejada: {1}; erro: {2}; vel_left: {3}; vel_right: {4}; erro_bruto: {5}" .format(self.usv_vel.twist.twist.angular.z, self.target_vel.angular.z, self.ang_vel, self.vel_left, self.vel_right, self.erro) rospy.loginfo(msg) return [self.vel_left, self.vel_right]
Example #12
Source File: windLBM.py From usv_sim_lsa with Apache License 2.0 | 6 votes |
def loadMap(): global array, width, height, originX, originY, mymap, minSpeed, maxSpeed mynorm = matplotlib.colors.Normalize(vmin=-0.1,vmax=0.1); mymap.header.frame_id="odom"; mymap.info.resolution = resolution; mymap.info.width = width; mymap.info.height = height; mymap.info.origin.position.x = originX; mymap.info.origin.position.y = originY; mymap.info.origin.position.z = 0; mymap.info.origin.orientation.x = 0; mymap.info.origin.orientation.y = 0; mymap.info.origin.orientation.z = 0; mymap.info.origin.orientation.w = 1; rospy.loginfo ("################### Preparing map. Size (%d, %d) origin(%d, %d)", width, height, originX, originY) for x in xrange(height-1, -1, -1): for y in range(0, width): mymap.data.append(0); rospy.loginfo("#################### Map loaded!")
Example #13
Source File: synthesizer.py From tts-ros1 with Apache License 2.0 | 6 votes |
def _call_engine(self, **kw): """Call engine to do the job. If no output path is found from input, the audio file will be put into /tmp and the file name will have a prefix of the md5 hash of the text. :param kw: what AmazonPolly needs to synthesize :return: response from AmazonPolly """ if 'output_path' not in kw: tmp_filename = hashlib.md5(kw['text']).hexdigest() tmp_filepath = os.path.join(os.sep, 'tmp', 'voice_{}_{}'.format(tmp_filename, str(time.time()))) kw['output_path'] = os.path.abspath(tmp_filepath) rospy.loginfo('audio will be saved as {}'.format(kw['output_path'])) return self.engine(**kw)
Example #14
Source File: synthesizer.py From tts-ros1 with Apache License 2.0 | 6 votes |
def _node_request_handler(self, request): """The callback function for processing service request. It never raises. If anything unexpected happens, it will return a SynthesizerResponse with the exception. :param request: an instance of SynthesizerRequest :return: a SynthesizerResponse """ rospy.loginfo(request) try: kws = self._parse_request_or_raise(request) res = self._call_engine(**kws).result return SynthesizerResponse(res) except Exception as e: return SynthesizerResponse('Exception: {}'.format(e))
Example #15
Source File: racecar_joy.py From tianbot_racecar with GNU General Public License v3.0 | 6 votes |
def __init__(self): rospy.loginfo("Tianbot Racecar JoyTeleop Initializing...") self._twist = Twist() self._twist.linear.x = 1500 self._twist.angular.z = 90 self._deadman_pressed = False self._zero_twist_published = False self._cmd_vel_pub = rospy.Publisher('~/car/cmd_vel', Twist, queue_size=5) self._joy_sub = rospy.Subscriber('/joy', Joy, self.joy_callback) self._timer = rospy.Timer(rospy.Duration(0.05), self.joystick_controller) self._axis_throttle = 1 _joy_mode = rospy.get_param("~joy_mode", "D").lower() if _joy_mode == "d": self._axis_servo = 2 if _joy_mode == "x": self._axis_servo = 3 self._throttle_scale = rospy.get_param("~throttle_scale", 0.5) self._servo_scale = rospy.get_param("~servo_scale", 1)
Example #16
Source File: runtime_test.py From AI-Robot-Challenge-Lab with MIT License | 6 votes |
def on_boxes_state_message(msg): #rospy.loginfo("received from test node: " + str(msg)) str_msg = "" exit_flag = False for i, pose in enumerate(msg.pose): name = msg.name[i] if "block" in name: str_msg += str(name) + ".y: "+ str(pose.position.y) +"\n" if pose.position.y >0.75: exit_flag = True rospy.logwarn("success, cube properly sent to tray. Ending!") break rospy.loginfo_throttle(1.0, "[Test Node] "+ str_msg) if exit_flag: exit_properly_runtime_test()
Example #17
Source File: ros_agent.py From scenario_runner with MIT License | 6 votes |
def destroy(self): """ Cleanup of all ROS publishers """ if self.stack_process and self.stack_process.poll() is None: rospy.loginfo("Sending SIGTERM to stack...") os.killpg(os.getpgid(self.stack_process.pid), signal.SIGTERM) rospy.loginfo("Waiting for termination of stack...") self.stack_process.wait() time.sleep(5) rospy.loginfo("Terminated stack.") rospy.loginfo("Stack is no longer running") self.world_info_publisher.unregister() self.map_file_publisher.unregister() self.vehicle_status_publisher.unregister() self.vehicle_info_publisher.unregister() self.waypoint_publisher.unregister() self.stack_process = None rospy.loginfo("Cleanup finished")
Example #18
Source File: hotword_dialogflow.py From dialogflow_ros with MIT License | 6 votes |
def __init__(self): self.interrupted = False self.detector = None rpack = RosPack() # UMDL or PMDL file paths along with audio files pkg_path = rpack.get_path('dialogflow_ros') self.model_path = pkg_path + '/scripts/snowboy/resources/jarvis.umdl' ding_path = pkg_path + '/scripts/snowboy/resources/ding.wav' # Setup df self.df_client = None # Setup audio output ding = wave.open(ding_path, 'rb') self.ding_data = ding.readframes(ding.getnframes()) self.audio = pyaudio.PyAudio() self.stream_out = self.audio.open( format=self.audio.get_format_from_width(ding.getsampwidth()), channels=ding.getnchannels(), rate=ding.getframerate(), input=False, output=True) self.last_contexts = [] rospy.loginfo("HOTWORD_CLIENT: Ready!")
Example #19
Source File: get_angular_odom.py From dashgo with Apache License 2.0 | 5 votes |
def __init__(self): self.lock = threading.Lock() self.sub_imu = rospy.Subscriber('odom', Odometry, self.imu_cb) self.last_imu_angle = 0 self.imu_angle = 0 while not rospy.is_shutdown(): rospy.sleep(0.3) rospy.loginfo("imu_angle:"+str((self.imu_angle)*180/3.1415926))
Example #20
Source File: dashgo_driver.py From dashgo with Apache License 2.0 | 5 votes |
def shutdown(self): # Stop the robot try: rospy.loginfo("Stopping the robot...") self.cmd_vel_pub.Publish(Twist()) rospy.sleep(2) except: pass rospy.loginfo("Shutting down Arduino Node...")
Example #21
Source File: check_linear.py From dashgo with Apache License 2.0 | 5 votes |
def get_position(self): # Get the current transform between the odom and base frames try: (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0)) except (tf.Exception, tf.ConnectivityException, tf.LookupException): rospy.loginfo("TF Exception") return return Point(*trans)
Example #22
Source File: trajectory_action_server.py From AI-Robot-Challenge-Lab with MIT License | 5 votes |
def start_server(limb, rate, mode, valid_limbs): rospy.loginfo("Initializing node... ") rospy.init_node("sdk_{0}_joint_trajectory_action_server{1}".format( mode, "" if limb == 'all_limbs' else "_" + limb,)) rospy.wait_for_service("/ExternalTools/right/PositionKinematicsNode/IKService") rospy.loginfo("Initializing joint trajectory action server...") robot_name = intera_interface.RobotParams().get_robot_name().lower().capitalize() config_module = "intera_interface.cfg" if mode == 'velocity': config_name = ''.join([robot_name,"VelocityJointTrajectoryActionServerConfig"]) elif mode == 'position': config_name = ''.join([robot_name,"PositionJointTrajectoryActionServerConfig"]) else: config_name = ''.join([robot_name,"PositionFFJointTrajectoryActionServerConfig"]) cfg = importlib.import_module('.'.join([config_module,config_name])) dyn_cfg_srv = Server(cfg, lambda config, level: config) jtas = [] if limb == 'all_limbs': for current_limb in valid_limbs: jtas.append(JointTrajectoryActionServer(current_limb, dyn_cfg_srv, rate, mode)) else: jtas.append(JointTrajectoryActionServer(limb, dyn_cfg_srv, rate, mode)) def cleanup(): for j in jtas: j.clean_shutdown() rospy.on_shutdown(cleanup) rospy.loginfo("Joint Trajectory Action Server Running. Ctrl-c to quit") rospy.spin()
Example #23
Source File: control_simplepub.py From usv_sim_lsa with Apache License 2.0 | 5 votes |
def talker(): pub = rospy.Publisher('/barco_auv/thruster_command', JointState, queue_size=10) rospy.init_node('ctrl_jointState_publisher', anonymous=True) rate = rospy.Rate(10) # 10hz hello_str = JointState() hello_str.header = Header() hello_str.name = ['fwd_left'] hello_str.position = [10] hello_str.velocity = [] hello_str.effort = [] while not rospy.is_shutdown(): rospy.loginfo(hello_str) pub.publish(hello_str) rate.sleep()
Example #24
Source File: c.py From dashgo with Apache License 2.0 | 5 votes |
def __init__(self): self.lock = threading.Lock() self.sub_imu = rospy.Subscriber('imu', Imu, self.imu_cb) self.last_imu_angle = 0 self.imu_angle = 0 while not rospy.is_shutdown(): self.last_imu_angle = self.imu_angle rospy.sleep(10) rospy.loginfo("imu_drift:"+str((self.imu_angle-self.last_imu_angle)*180/3.1415926))
Example #25
Source File: get_angular_combined.py From dashgo with Apache License 2.0 | 5 votes |
def __init__(self): self.lock = threading.Lock() self.sub_imu = rospy.Subscriber('robot_pose_ekf/odom_combined', PoseWithCovarianceStamped, self.imu_cb) self.last_imu_angle = 0 self.imu_angle = 0 while not rospy.is_shutdown(): rospy.sleep(0.1) rospy.loginfo("imu_angle:"+str((self.imu_angle)*180/3.1415926))
Example #26
Source File: odom_ekf.py From dashgo with Apache License 2.0 | 5 votes |
def __init__(self): # Give the node a name rospy.init_node('odom_ekf', anonymous=False) # Publisher of type nav_msgs/Odometry self.ekf_pub = rospy.Publisher('output', Odometry, queue_size=5) # Wait for the /odom_combined topic to become available rospy.wait_for_message('input', PoseWithCovarianceStamped) # Subscribe to the /odom_combined topic rospy.Subscriber('input', PoseWithCovarianceStamped, self.pub_ekf_odom) rospy.loginfo("Publishing combined odometry on /odom_ekf")
Example #27
Source File: move_base_square.py From dashgo with Apache License 2.0 | 5 votes |
def move(self, goal): # Send the goal pose to the MoveBaseAction server self.move_base.send_goal(goal) # Allow 1 minute to get there finished_within_time = self.move_base.wait_for_result(rospy.Duration(60)) # If we don't get there in time, abort the goal if not finished_within_time: self.move_base.cancel_goal() rospy.loginfo("Timed out achieving goal") else: # We made it! state = self.move_base.get_state() if state == GoalStatus.SUCCEEDED: rospy.loginfo("Goal succeeded!")
Example #28
Source File: move_base_square.py From dashgo with Apache License 2.0 | 5 votes |
def shutdown(self): rospy.loginfo("Stopping the robot...") # Cancel any active goals self.move_base.cancel_goal() rospy.sleep(2) # Stop the robot self.cmd_vel_pub.publish(Twist()) rospy.sleep(1)
Example #29
Source File: nav_grid.py From dashgo with Apache License 2.0 | 5 votes |
def shutdown(self): # Always stop the robot when shutting down the node rospy.loginfo("Stopping the robot...") self.cmd_vel.publish(Twist()) rospy.sleep(1)
Example #30
Source File: check_linear.py From dashgo with Apache License 2.0 | 5 votes |
def shutdown(self): # Always stop the robot when shutting down the node rospy.loginfo("Stopping the robot...") self.cmd_vel.publish(Twist()) rospy.sleep(1)