test.py
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00001 #!/usr/bin/python
00002 #***************************************************************
00003 #
00004 # Copyright (c) 2010
00005 #
00006 # Fraunhofer Institute for Manufacturing Engineering    
00007 # and Automation (IPA)
00008 #
00009 # +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00010 #
00011 # Project name: care-o-bot
00012 # ROS stack name: cob_driver
00013 # ROS package name: cob_light
00014 #                                                               
00015 # +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016 #                       
00017 # Author: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
00018 # Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
00019 #
00020 # Date of creation: June 2010
00021 # ToDo:
00022 #
00023 # +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024 #
00025 # Redistribution and use in source and binary forms, with or without
00026 # modification, are permitted provided that the following conditions are met:
00027 #
00028 #     * Redistributions of source code must retain the above copyright
00029 #       notice, this list of conditions and the following disclaimer.
00030 #     * Redistributions in binary form must reproduce the above copyright
00031 #       notice, this list of conditions and the following disclaimer in the
00032 #       documentation and/or other materials provided with the distribution.
00033 #     * Neither the name of the Fraunhofer Institute for Manufacturing 
00034 #       Engineering and Automation (IPA) nor the names of its
00035 #       contributors may be used to endorse or promote products derived from
00036 #       this software without specific prior written permission.
00037 #
00038 # This program is free software: you can redistribute it and/or modify
00039 # it under the terms of the GNU Lesser General Public License LGPL as 
00040 # published by the Free Software Foundation, either version 3 of the 
00041 # License, or (at your option) any later version.
00042 # 
00043 # This program is distributed in the hope that it will be useful,
00044 # but WITHOUT ANY WARRANTY; withouself.ser = serial.Serial('/dev/ttyUSB0', 230400)t even the implied warranty of
00045 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00046 # GNU Lesser General Public License LGPL for more details.
00047 # 
00048 # You should have received a copy of the GNU Lesser General Public 
00049 # License LGPL along with this program. 
00050 # If not, see <http://www.gnu.org/licenses/>.
00051 #
00052 #****************************************************************
00053 
00054 import time
00055 import roslib
00056 roslib.load_manifest('cob_light')
00057 import rospy
00058 from std_msgs.msg import ColorRGBA
00059 
00060 def changeColor():
00061         pub = rospy.Publisher('light_controller/command', ColorRGBA)
00062         rospy.init_node('light_test')
00063         #color in rgb color space ranging from 0 to 1
00064         red = ColorRGBA()
00065         red.r = 1
00066         red.g = 0
00067         red.b = 0
00068         red.a = 1
00069         
00070         yellow = ColorRGBA()
00071         yellow.r = 0.4
00072         yellow.g = 1
00073         yellow.b = 0
00074         yellow.a = 1
00075         
00076         green = ColorRGBA()
00077         green.r = 0
00078         green.g = 1
00079         green.b = 0
00080         green.a = 1
00081         
00082         blue = ColorRGBA()
00083         blue.r = 0
00084         blue.g = 0
00085         blue.b = 1
00086         blue.a = 1
00087         
00088         white = ColorRGBA()
00089         white.r = 0.3
00090         white.g = 1
00091         white.b = 0.3
00092         white.g = 1
00093         
00094         for color in [red,yellow,green,white,blue,green]:
00095                 rospy.loginfo("Setting rgb to %s [%d, %d, %d]",color.r,color.g,color.b,color.a)
00096                 pub.publish(color)
00097                 time.sleep(3)
00098 
00099 if __name__ == '__main__':
00100     try:
00101         changeColor()
00102     except rospy.ROSInterruptException: pass
00103 


cob_light
Author(s): Benjamin Maidel
autogenerated on Sun Oct 5 2014 23:09:07