segway_command.py

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#! /usr/bin/python
# Copyright (c) 2009, Georgia Tech Research Corporation
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# THIS SOFTWARE IS PROVIDED BY GEORGIA TECH RESEARCH CORPORATION ''AS IS'' AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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#  \author Hai Nguyen (Healthcare Robotics Lab, Georgia Tech.)
#  \author Marc Killpack (Healthcare Robotics Lab, Georgia Tech.)


import roslib; roslib.load_manifest('hrl_segway_omni')
from hrl_lib.msg import PlanarBaseVel
import rospy
import time


class SegwayCommand:
    def __init__(self, topic='base', name='segway_command'):
        self.pub = rospy.Publisher('base', PlanarBaseVel)
        try:
            rospy.init_node(name, anonymous=True)
        except rospy.ROSException, e:
            pass

    def set_velocity(self, xvel, yvel, angular_vel):
        cmd = PlanarBaseVel(None, xvel, yvel, angular_vel)
        self.pub.publish(cmd)
        time.sleep(.001)
                

if __name__ == '__main__':
    s = SegwayCommand()
    while not rospy.is_shutdown():
        s.set_velocity(0, 0, 0)    #you can change this for testing, but for safety, the default is zero