6 PHM Robot Task Completion Node 12 from std_msgs.msg
import String
13 from phm_msgs.msg
import Potc
18 Robot Task Completion Node 21 Topic name = /gui_actual_potc 24 Topic name = /gui_predict_potc 28 Topic nane = /phm_potc 42 Robot Task Completion Node Main Function 46 publisher_phm_potc = rospy.Publisher(
'/phm_potc', Potc, queue_size=10)
52 while not rospy.is_shutdown():
54 ros_time = rospy.get_rostime()
56 publisher_phm_potc.publish(phm_potc)
62 Callback function of /gui_actual_potc 70 Callback function of /gui_predict_potc 76 def set_potc_func(cls, phm_gui_actual_potc, phm_gui_predict_potc, ros_time):
78 Message function of the /phm_potc to be published 82 phm_potc.stamp = ros_time
85 if phm_gui_actual_potc !=
"":
86 phm_potc.actual_potc.potc_nominal_value = float(phm_gui_actual_potc[
"Nominal"][
"POTC"])
87 phm_potc.actual_potc.potc_sensor_based_value = float(phm_gui_actual_potc[
"Sensor Based"][
"POTC"])
88 phm_potc.actual_potc.potc_time = float(phm_gui_actual_potc[
"Nominal"][
"Time"])
89 phm_potc.actual_potc.potc_distance = float(phm_gui_actual_potc[
"Nominal"][
"Distance"])
92 phm_potc.actual_potc.potc_nominal_value = float(1.0)
93 phm_potc.actual_potc.potc_sensor_based_value = float(1.0)
94 phm_potc.actual_potc.potc_time = float(0.0)
95 phm_potc.actual_potc.potc_distance = float(0.0)
98 if phm_gui_predict_potc !=
"":
99 phm_potc.predict_potc.potc_nominal_value = float(phm_gui_predict_potc[
"Nominal"][
"POTC"])
100 phm_potc.predict_potc.potc_sensor_based_value = float(phm_gui_predict_potc[
"Sensor Based"][
"POTC"])
101 phm_potc.predict_potc.potc_time = float(phm_gui_predict_potc[
"Nominal"][
"Time"])
102 phm_potc.predict_potc.potc_distance = float(phm_gui_predict_potc[
"Nominal"][
"Distance"])
105 phm_potc.predict_potc.potc_nominal_value = float(1.0)
106 phm_potc.predict_potc.potc_sensor_based_value = float(1.0)
107 phm_potc.predict_potc.potc_time = float(0.0)
108 phm_potc.predict_potc.potc_distance = float(0.0)
113 if __name__ ==
'__main__':
114 rospy.init_node(
'phm_robot_task_completion_node')
116 POTC_CLASS.main_func()
def phm_gui_actual_potc_callback_func(self, phm_msg)
def set_potc_func(cls, phm_gui_actual_potc, phm_gui_predict_potc, ros_time)
def phm_gui_predict_potc_callback_func(self, phm_msg)