sonar.py
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00001 #!/usr/bin/env python
00002 
00003 # Copyright (C) 2014 Aldebaran Robotics
00004 #
00005 # Licensed under the Apache License, Version 2.0 (the "License");
00006 # you may not use this file except in compliance with the License.
00007 # You may obtain a copy of the License at
00008 #
00009 #     http://www.apache.org/licenses/LICENSE-2.0
00010 #
00011 # Unless required by applicable law or agreed to in writing, software
00012 # distributed under the License is distributed on an "AS IS" BASIS,
00013 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014 # See the License for the specific language governing permissions and
00015 # limitations under the License.
00016 #
00017 
00018 #import ROS dependencies
00019 import rospy
00020 
00021 #import NAO dependencies
00022 from nao_sensors.ros_sonar import SonarSensor, SonarPublisher
00023 
00024 if __name__ == '__main__':
00025     # create two sonars
00026     leftSonar = SonarSensor('Device/SubDeviceList/US/Left/Sensor/Value',     # AL memory key
00027                             'LSonar_frame',                                        # ROS frame id
00028                             '~/nao/sonar_left')                              # ROS topic to publish
00029 
00030     rightSonar = SonarSensor('Device/SubDeviceList/US/Right/Sensor/Value',   # AL memory key
00031                              'RSonar_frame',                                       # ROS frame id
00032                              '~/nao/sonar_right')                            # ROS topic to publish
00033 
00034     publisher = SonarPublisher( (leftSonar,rightSonar))                      # list of sonars
00035     publisher.start()
00036 
00037     rospy.spin()
00038     exit(0)


nao_sensors
Author(s): Séverin Lemaignan, Vincent Rabaud, Karsten Knese, Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Daniel Maier
autogenerated on Sun Nov 2 2014 11:27:42