00001 #! /usr/bin/python 00002 # Copyright (c) 2009, Georgia Tech Research Corporation 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # * Redistributions of source code must retain the above copyright 00008 # notice, this list of conditions and the following disclaimer. 00009 # * Redistributions in binary form must reproduce the above copyright 00010 # notice, this list of conditions and the following disclaimer in the 00011 # documentation and/or other materials provided with the distribution. 00012 # * Neither the name of the Georgia Tech Research Corporation nor the 00013 # names of its contributors may be used to endorse or promote products 00014 # derived from this software without specific prior written permission. 00015 # 00016 # THIS SOFTWARE IS PROVIDED BY GEORGIA TECH RESEARCH CORPORATION ''AS IS'' AND 00017 # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00018 # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00019 # DISCLAIMED. IN NO EVENT SHALL GEORGIA TECH BE LIABLE FOR ANY DIRECT, INDIRECT, 00020 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00021 # LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, 00022 # OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 00023 # LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 00024 # OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF 00025 # ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 # 00027 # \author Hai Nguyen (Healthcare Robotics Lab, Georgia Tech.) 00028 # \author Marc Killpack (Healthcare Robotics Lab, Georgia Tech.) 00029 00030 00031 import roslib; roslib.load_manifest('hrl_segway_omni') 00032 from hrl_lib.msg import PlanarBaseVel 00033 import rospy 00034 import time 00035 00036 00037 class SegwayCommand: 00038 def __init__(self, topic='base', name='segway_command'): 00039 self.pub = rospy.Publisher('base', PlanarBaseVel) 00040 try: 00041 rospy.init_node(name, anonymous=True) 00042 except rospy.ROSException, e: 00043 pass 00044 00045 def set_velocity(self, xvel, yvel, angular_vel): 00046 cmd = PlanarBaseVel(None, xvel, yvel, angular_vel) 00047 self.pub.publish(cmd) 00048 time.sleep(.001) 00049 00050 00051 if __name__ == '__main__': 00052 s = SegwayCommand() 00053 while not rospy.is_shutdown(): 00054 s.set_velocity(0, 0, 0) #you can change this for testing, but for safety, the default is zero 00055 00056 00057 00058 00059