test_led_array.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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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     


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