multi_robot.py File Reference

Go to the source code of this file.

Classes
class	multi_robot.CRobotSync

Namespaces
	multi_robot

Functions
def	multi_robot.msgRobotState_cb_r1 (msg)
def	multi_robot.msgRobotState_cb_r2 (msg)
def	multi_robot.shutdown ()
def	multi_robot.thread_robot1 (robot_id, robot_model)
def	multi_robot.thread_robot2 (robot_id, robot_model)
def	multi_robot.thread_subscriber_r1 (robot_id, robot_model)
def	multi_robot.thread_subscriber_r2 (robot_id, robot_model)

Variables
list	multi_robot.acc_spi = [150, 150]
list	multi_robot.accx = [0, 0]
list	multi_robot.amp = [0, 0, 0, 30, 30, 0]
	multi_robot.daemon
	multi_robot.dont_write_bytecode
	multi_robot.dREL1 = posx(0, 0, 350, 0, 0, 0)
	multi_robot.dREL2 = posx(0, 0, -350, 0, 0, 0)
	multi_robot.J00 = posj(-180, 0, -145, 0, -35, 0)
	multi_robot.J01r = posj(-180.0, 71.4, -145.0, 0.0, -9.7, 0.0)
	multi_robot.J02r = posj(-180.0, 67.7, -144.0, 0.0, 76.3, 0.0)
	multi_robot.J03r = posj(-180.0, 0.0, 0.0, 0.0, 0.0, 0.0)
	multi_robot.J04r = posj(-90.0, 0.0, 0.0, 0.0, 0.0, 0.0)
	multi_robot.J04r1 = posj(-90.0, 30.0, -60.0, 0.0, 30.0, -0.0)
	multi_robot.J04r2 = posj(-90.0, -45.0, 90.0, 0.0, -45.0, -0.0)
	multi_robot.J04r3 = posj(-90.0, 60.0, -120.0, 0.0, 60.0, -0.0)
	multi_robot.J04r4 = posj(-90.0, 0.0, -0.0, 0.0, 0.0, -0.0)
	multi_robot.J05r = posj(-144.0, -4.0, -84.8, -90.9, 54.0, -1.1)
	multi_robot.J07r = posj(-152.4, 12.4, -78.6, 18.7, -68.3, -37.7)
	multi_robot.J08r = posj(-90.0, 30.0, -120.0, -90.0, -90.0, 0.0)
	multi_robot.J1 = posj(81.2, 20.8, 127.8, 162.5, 56.1, -37.1)
	multi_robot.JEnd = posj(0.0, -12.6, 101.1, 0.0, 91.5, -0.0)
	multi_robot.JReady = posj(0, -20, 110, 0, 60, 0)
int	multi_robot.NUM_ROBOT = 2
list	multi_robot.period = [0, 0, 0, 3, 6, 0]
	multi_robot.pub_stop_r1 = rospy.Publisher('/'+ robot_id1 + robot_model1 +'/stop', RobotStop, queue_size=10)
	multi_robot.pub_stop_r2 = rospy.Publisher('/'+ robot_id2 + robot_model2 +'/stop', RobotStop, queue_size=10)
string	multi_robot.robot_id1 = "dsr01"
string	multi_robot.robot_id2 = "dsr02"
	multi_robot.robot_model1
	multi_robot.robot_model2
	multi_robot.RobotSync = CRobotSync(NUM_ROBOT)
	multi_robot.t1 = threading.Thread(target=thread_robot1, args=(robot_id1, robot_model1))
	multi_robot.t2 = threading.Thread(target=thread_robot2, args=(robot_id2, robot_model2))
list	multi_robot.vel_spi = [400, 400]
list	multi_robot.velx = [0, 0]
	multi_robot.X0 = posx(-88.7, 799.0, 182.3, 95.7, 93.7, 133.9)
list	multi_robot.x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7]
list	multi_robot.x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2]
list	multi_robot.x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1]
list	multi_robot.x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3]
	multi_robot.X1 = posx(304.2, 871.8, 141.5, 99.5, 84.9, 133.4)
	multi_robot.X2 = posx(437.1, 876.9, 362.1, 99.6, 84.0, 132.1)
	multi_robot.X3 = posx(-57.9, 782.4, 478.4, 99.6, 84.0, 132.1)