relayboard_sim.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
 
import rospy
from std_msgs.msg import Float64
from cob_msgs.msg import EmergencyStopState
 
def relayboard_sim():
        rospy.init_node('cob_relayboard_sim')
 
        # emergency_stop topic
        pub_em_stop = rospy.Publisher('emergency_stop_state', EmergencyStopState, queue_size=1)
        msg_em = EmergencyStopState()
        msg_em.emergency_button_stop = False
        msg_em.scanner_stop = False
        msg_em.emergency_state = 0
 
        # voltage topic
        pub_voltage = rospy.Publisher('voltage', Float64, queue_size=1)
        msg_voltage = Float64()
        msg_voltage.data = 48.0 # in simulation battery is always full
 
        while not rospy.is_shutdown():
                pub_em_stop.publish(msg_em)
                pub_voltage.publish(msg_voltage)
                rospy.sleep(1.0)
 
if __name__ == '__main__':
        try:
                relayboard_sim()
        except rospy.ROSInterruptException:
                print("Interupted")
                pass