test_gyro.py
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00001 #!/usr/bin/env python
00002 
00003 # Software License Agreement (BSD License)
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00005 # Copyright (c) 2012, Yujin Robot
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00035 # Continuously print angle and angular velocity from Imu messages
00036 
00037 
00038 import roslib; roslib.load_manifest('kobuki_testsuite')
00039 import rospy
00040 import sys
00041 
00042 from tf.transformations import euler_from_quaternion
00043 from math import degrees
00044 
00045 from sensor_msgs.msg import Imu
00046 from geometry_msgs.msg import Quaternion
00047 
00048 
00049 def ImuCallback(data):
00050   quat = data.orientation
00051   q = [quat.x, quat.y, quat.z, quat.w]
00052   roll, pitch, yaw = euler_from_quaternion(q)
00053   sys.stdout.write("\r\033[1mGyro Angle\033[0m: [" + "{0:+.4f}".format(yaw) + " rad]  ["\
00054                  + "{0: >+7.2f}".format(degrees(yaw)) + " deg]"\
00055                  + "            \033[1mRate\033[0m: [" + "{0:+.4f}".format(data.angular_velocity.z) + " rad/s]  ["\
00056                  + "{0: >+7.2f}".format(degrees(data.angular_velocity.z)) + " deg/s] ")
00057   # http://docs.python.org/library/string.html#formatexamples
00058   sys.stdout.flush()
00059 
00060 rospy.init_node("test_gyro")
00061 rospy.Subscriber("/mobile_base/sensors/imu_data", Imu, ImuCallback)
00062 rospy.spin()
00063 print '' # for clean output


kobuki_testsuite
Author(s): Jorge Santos Simon
autogenerated on Thu Jun 6 2019 17:38:11