00001 #!/usr/bin/env python 00002 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2012, Yujin Robot 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of the Yujin Robot nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 00035 import roslib; roslib.load_manifest('kobuki_testsuite') 00036 import rospy 00037 00038 from kobuki_msgs.msg import Led 00039 00040 colours = ["Black", "Green", "Orange", "Red"] 00041 00042 rospy.init_node("test_led_array") 00043 pub = [] 00044 pub.append(rospy.Publisher('/mobile_base/commands/led1',Led)) 00045 pub.append(rospy.Publisher('/mobile_base/commands/led2',Led)) 00046 rate = rospy.Rate(1) 00047 leds = [] 00048 leds.append(Led()) 00049 leds.append(Led()) 00050 leds[0].value = Led.GREEN 00051 leds[1].value = Led.BLACK 00052 rate.sleep() 00053 00054 while not rospy.is_shutdown(): 00055 for led in leds: 00056 if led.value == Led.GREEN: 00057 led.value = Led.ORANGE 00058 elif led.value == Led.ORANGE: 00059 led.value = Led.RED 00060 elif led.value == Led.RED: 00061 led.value = Led.BLACK 00062 elif led.value == Led.BLACK: 00063 led.value = Led.GREEN 00064 print "[" + colours[leds[0].value] + "," + colours[leds[1].value] + "]" 00065 pub[0].publish(leds[0]) 00066 pub[1].publish(leds[1]) 00067 rate.sleep() 00068