diff --git a/Dockerfile.rosbridge b/Dockerfile.rosbridge deleted file mode 100644 index c9e1d35..0000000 --- a/Dockerfile.rosbridge +++ /dev/null @@ -1,21 +0,0 @@ -ARG ROS_DISTRO=humble - -FROM husarnet/ros:$ROS_DISTRO-ros-core - -SHELL ["/bin/bash", "-c"] - -RUN apt update && \ - apt upgrade -y && \ - apt install -y \ - ros-$ROS_DISTRO-rosbridge-suite \ - ros-$ROS_DISTRO-tf2-msgs \ - - # custom msgs dependency - ros-$ROS_DISTRO-rosidl-typesupport-c \ - && \ - apt-get autoremove -y && \ - apt-get clean && \ - rm -rf /var/lib/apt/lists/* - -COPY --from=delicjusz/pioneer /ros2_ws /ros2_ws -RUN echo $(dpkg -s ros-$ROS_DISTRO-rosbridge-suite | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]*).*/\1/g') >> /version.txt \ No newline at end of file diff --git a/compose.foxglove.master.yaml b/compose.foxglove.master.yaml deleted file mode 100644 index 3134e4f..0000000 --- a/compose.foxglove.master.yaml +++ /dev/null @@ -1,39 +0,0 @@ -# docker compose -f compose.foxglove.master.yaml up - -services: - restrictions-republisher: - image: delicjusz/rosbridge - network_mode: host - ipc: host - restart: on-failure - environment: - - RMW_IMPLEMENTATION=rmw_fastrtps_cpp - - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml - volumes: - - ./fastdds.xml:/fastdds.xml - - ./rescrictions_republisher.py:/rescrictions_republisher.py - command: > - bash -c "source /ros2_ws/install/setup.bash && python3 /rescrictions_republisher.py" - - rosbridge: - image: delicjusz/rosbridge - network_mode: host - ipc: host - restart: on-failure - environment: - - RMW_IMPLEMENTATION=rmw_fastrtps_cpp - - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml - volumes: - - ./fastdds.xml:/fastdds.xml - command: > - bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml" - - foxglove-master: - image: husarion/foxglove:humble-1.39.1-20230220 - ports: - - 5050:5050 - volumes: - - ./config/master_layout.json:/src/FoxgloveDefaultLayout.json - environment: - - FOXGLOVE_PORT=5050 - - ROSBRIDGE_PORT=9090 diff --git a/compose.foxglove.user.yaml b/compose.foxglove.user.yaml deleted file mode 100644 index 054a911..0000000 --- a/compose.foxglove.user.yaml +++ /dev/null @@ -1,31 +0,0 @@ -# docker compose -f compose.foxglove.yaml up -x-net-config: - &net-config - network_mode: host - ipc: host - -services: - foxglove: - image: husarion/foxglove:humble-1.39.1-20230220 - restart: on-failure - ports: - - 8080:8080 - volumes: - - ./config/user_layout.json:/src/FoxgloveDefaultLayout.json - environment: - - FOXGLOVE_PORT=8080 - - ROSBRIDGE_PORT=9090 - - # rosbridge: - # image: delicjusz/rosbridge - # <<: *net-config - # restart: on-failure - # environment: - # - RMW_IMPLEMENTATION=rmw_fastrtps_cpp - # - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml - # volumes: - # - ./fastdds.xml:/fastdds.xml - # - ./rosbridge_websocket_launch.xml:/opt/ros/humble/share/rosbridge_server/launch/rosbridge_websocket_launch.xml - # command: > - # bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml - # pioneer_id:=${PIONEER_ID}" \ No newline at end of file diff --git a/config/master_layout copy.json b/config/master_layout copy.json deleted file mode 100644 index de0040c..0000000 --- a/config/master_layout copy.json +++ /dev/null @@ -1,279 +0,0 @@ -{ - "configById": { - "Gauge!36uqsdw": { - "path": "/pioneers/restrictions.linear_velocity.data", - "minValue": 0.1, - "maxValue": 0.8, - "colorMap": "turbo", - "colorMode": "colormap", - "gradient": [ - "#fff900", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Linear Velocity" - }, - "Gauge!16s1huo": { - "path": "/pioneers/restrictions.angular_velocity.data", - "minValue": 0.1, - "maxValue": 1.2, - "colorMap": "turbo", - "colorMode": "colormap", - "gradient": [ - "#fff900", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Angular Velocity" - }, - "Gauge!43oiv40": { - "path": "/pioneers/restrictions.linear_velocity.data", - "minValue": 0.02, - "maxValue": 1.2, - "colorMap": "rainbow", - "colorMode": "gradient", - "gradient": [ - "#ffffff", - "#ff0000" - ], - "reverse": false, - "foxglovePanelTitle": "Distance" - }, - "Indicator!2kcvhko": { - "path": "/pioneer5/robot_info.state.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Inactive", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "Active" - } - ], - "foxglovePanelTitle": "Status" - }, - "Publish!1jggeko": { - "topicName": "/pioneer5/clutch", - "datatype": "std_msgs/msg/Bool", - "buttonText": "Enable", - "buttonTooltip": "", - "buttonColor": "#00A871", - "advancedView": false, - "value": "{\n \"data\": true\n}", - "foxglovePanelTitle": "Motors" - }, - "Publish!2bcq74b": { - "topicName": "/pioneer5/clutch", - "datatype": "std_msgs/msg/Bool", - "buttonText": "Disable", - "buttonTooltip": "", - "buttonColor": "#aeaeae", - "advancedView": false, - "value": "{\n \"data\": false\n}", - "foxglovePanelTitle": " Motors" - }, - "Indicator!s9ir7d": { - "path": "/pioneer5/robot_info.clutch.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Off", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "On" - } - ], - "foxglovePanelTitle": "Motors" - }, - "Indicator!4am2dga": { - "path": "/pioneer5/robot_info.obstacle_detected.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "👌", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#ff005e", - "label": "😱" - } - ], - "foxglovePanelTitle": "Obstacle" - }, - "Gauge!44f06dp": { - "path": "/pioneer5/robot_info.battery_voltage.data", - "minValue": 11.9, - "maxValue": 12.9, - "colorMap": "red-yellow-green", - "colorMode": "colormap", - "gradient": [ - "#0000ff", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Battry Voltage" - }, - "Indicator!36yp9u": { - "path": "/pioneers/master_stop.data", - "style": "background", - "fallbackColor": "#ff0000", - "fallbackLabel": "Robots Stopped", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "Robots Released" - } - ], - "foxglovePanelTitle": "Master Stop" - }, - "Publish!3ucy03l": { - "topicName": "/pioneers/master_stop", - "datatype": "std_msgs/msg/Bool", - "buttonText": "Start", - "buttonTooltip": "", - "buttonColor": "#00A871", - "advancedView": false, - "value": "{\n \"data\": true\n}" - }, - "Publish!3eo06na": { - "topicName": "/pioneers/restrictions", - "datatype": "ros2aria_msgs/msg/RestrictionsMsg", - "buttonText": "Publish", - "buttonTooltip": "", - "buttonColor": "#00A871", - "advancedView": true, - "value": "{\n \"distance\": {\n \"data\": 0.2 },\n \"linear_velocity\": {\n \"data\": 0.2\n },\n \"angular_velocity\": {\n \"data\": ${ELKO}\n }\n}\n" - }, - "Publish!2llenrw": { - "topicName": "/pioneers/master_stop", - "datatype": "std_msgs/msg/Bool", - "buttonText": "STOP ", - "buttonTooltip": "", - "buttonColor": "#ff0000", - "advancedView": false, - "value": "{\n \"data\": false\n}", - "foxglovePanelTitle": "Master" - }, - "RawMessages!2n2d99y": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneers/restrictions" - }, - "Tab!4eriapz": { - "activeTabIdx": 0, - "tabs": [ - { - "title": "Restrictions", - "layout": { - "first": "Gauge!36uqsdw", - "second": { - "first": "Gauge!16s1huo", - "second": "Gauge!43oiv40", - "direction": "row", - "splitPercentage": 51.44124168514412 - }, - "direction": "row", - "splitPercentage": 32.84023668639053 - } - } - ] - }, - "Tab!3irkbr4": { - "activeTabIdx": 0, - "tabs": [ - { - "title": "5", - "layout": { - "first": { - "first": "Indicator!2kcvhko", - "second": { - "first": { - "first": "Publish!1jggeko", - "second": "Publish!2bcq74b", - "direction": "row", - "splitPercentage": 47.44522280433317 - }, - "second": { - "first": "Indicator!s9ir7d", - "second": "Indicator!4am2dga", - "direction": "row", - "splitPercentage": 51.020408163265316 - }, - "direction": "row", - "splitPercentage": 50.046709461147984 - }, - "direction": "row", - "splitPercentage": 33.5482533335995 - }, - "second": "Gauge!44f06dp", - "direction": "row", - "splitPercentage": 83.10937586339708 - } - } - ] - } - }, - "globalVariables": { - "restrictions": { - "distance": { - "data": 0 - }, - "linear_velocity": { - "data": 0.2 - }, - "angular_velocity": { - "data": 0.6 - } - }, - "ELKO": 5, - "elko": 6 - }, - "userNodes": { - "ed523c47-5740-4915-a163-89d74f63276b": { - "sourceCode": "import { MessageWriter } from \"@foxglove/rosmsg2-serialization\";\n\n// message definition comes from `parse()` in @foxglove/rosmsg\nconst writer = new MessageWriter(pointStampedMessageDefinition);\n\n// serialize the passed in object to a Uint8Array as a geometry_msgs/PointStamped message\nconst uint8Array = writer.writeMessage({\n header: {\n stamp: { sec: 0, nanosec: 0 },\n frame_id: \"\"\n },\n x: 1,\n y: 0,\n z: 0\n});", - "name": "ed523c47" - } - }, - "playbackConfig": { - "speed": 1 - }, - "layout": { - "first": "Indicator!36yp9u", - "second": { - "first": { - "first": { - "first": { - "first": "Publish!3ucy03l", - "second": "Publish!3eo06na", - "direction": "column", - "splitPercentage": 17.645846217274784 - }, - "second": { - "first": "Publish!2llenrw", - "second": "RawMessages!2n2d99y", - "direction": "column", - "splitPercentage": 18.30550401978973 - }, - "direction": "row", - "splitPercentage": 55.393939393939384 - }, - "second": "Tab!4eriapz", - "direction": "column", - "splitPercentage": 71.5909090909091 - }, - "second": "Tab!3irkbr4", - "direction": "row", - "splitPercentage": 37.61825264329438 - }, - "direction": "column", - "splitPercentage": 12.5 - } -} \ No newline at end of file diff --git a/config/master_layout.json b/config/master_layout.json deleted file mode 100644 index 464e91d..0000000 --- a/config/master_layout.json +++ /dev/null @@ -1,1173 +0,0 @@ -{ - "configById": { - "Gauge!36uqsdw": { - "path": "/pioneers/restrictions.linear_velocity.data", - "minValue": 0.1, - "maxValue": 0.8, - "colorMap": "turbo", - "colorMode": "colormap", - "gradient": [ - "#fff900", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Linear Velocity" - }, - "Indicator!1qkv73q": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Linear", - "rules": [] - }, - "RawMessages!ar07s3": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneers/restrictions.linear_velocity.data" - }, - "Indicator!2nsjk1p": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "m/s", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "True" - } - ] - }, - "Gauge!16s1huo": { - "path": "/pioneers/restrictions.angular_velocity.data", - "minValue": 0.1, - "maxValue": 1.2, - "colorMap": "turbo", - "colorMode": "colormap", - "gradient": [ - "#fff900", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Angular Velocity" - }, - "Indicator!3n46nwo": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Angular", - "rules": [] - }, - "RawMessages!uvcqfl": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneers/restrictions.angular_velocity.data" - }, - "Indicator!4h4lf61": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "rad/s", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "True" - } - ] - }, - "Gauge!43oiv40": { - "path": "/pioneers/restrictions.distance.data", - "minValue": 0.02, - "maxValue": 1.2, - "colorMap": "turbo", - "colorMode": "colormap", - "gradient": [ - "#ffffff", - "#ff0000" - ], - "reverse": false, - "foxglovePanelTitle": "Distance" - }, - "Indicator!2jxr8po": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Distance", - "rules": [] - }, - "RawMessages!3arcxc2": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneers/restrictions.distance.data" - }, - "Indicator!3vy7fg4": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "m", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "True" - } - ] - }, - "Indicator!28w6o85": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "State", - "rules": [] - }, - "Indicator!1w0yxvt": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Motors", - "rules": [] - }, - "Indicator!32b8inr": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Linear", - "rules": [] - }, - "Indicator!1ckvx1x": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Angular", - "rules": [] - }, - "Indicator!28cr2h8": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Distance", - "rules": [] - }, - "Indicator!44uwek4": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Obstacle", - "rules": [] - }, - "Indicator!rid784": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "VBat", - "rules": [] - }, - "Indicator!402q7l3": { - "path": "", - "style": "background", - "fallbackColor": "#181818", - "fallbackLabel": "Angular", - "rules": [] - }, - "Indicator!3p0vwgu": { - "path": "/pioneer1/robot_info.state.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Inactive", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "Active" - } - ], - "foxglovePanelTitle": "Status" - }, - "Indicator!3to62n0": { - "path": "/pioneer1/robot_info.clutch.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Off", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "On" - } - ], - "foxglovePanelTitle": "Motors" - }, - "RawMessages!134unlt": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer1/robot_info.twist.linear.x" - }, - "RawMessages!49os4rv": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer1/robot_info.twist.angular.z" - }, - "RawMessages!3mdyvib": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer1/robot_info.minimal_distance.data" - }, - "Indicator!fwsflg": { - "path": "/pioneer1/robot_info.obstacle_detected.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "👌", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#ff0000", - "label": "😱" - } - ], - "foxglovePanelTitle": "Obstacle" - }, - "RawMessages!1z329p2": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer1/robot_info.battery_voltage.data" - }, - "Gauge!1k21mqr": { - "path": "/pioneer1/robot_info.battery_voltage.data", - "minValue": 11.9, - "maxValue": 12.9, - "colorMap": "red-yellow-green", - "colorMode": "colormap", - "gradient": [ - "#0000ff", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Battry Voltage" - }, - "Indicator!3s91p8t": { - "path": "/pioneer1/robot_info.state.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Inactive", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "Active" - } - ], - "foxglovePanelTitle": "Status" - }, - "Indicator!3mjcuao": { - "path": "/pioneer2/robot_info.clutch.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Off", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "On" - } - ], - "foxglovePanelTitle": "Motors" - }, - "RawMessages!2na0x2h": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer2/robot_info.twist.linear.x" - }, - "RawMessages!1gto4pj": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer2/robot_info.twist.angular.z" - }, - "RawMessages!20o5o18": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer2/robot_info.minimal_distance.data" - }, - "Indicator!1gl9rvl": { - "path": "/pioneer2/robot_info.obstacle_detected.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "👌", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#ff0000", - "label": "😱" - } - ], - "foxglovePanelTitle": "Obstacle" - }, - "RawMessages!p72f2f": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer2/robot_info.battery_voltage.data" - }, - "Gauge!2uz67s0": { - "path": "/pioneer2/robot_info.battery_voltage.data", - "minValue": 11.9, - "maxValue": 12.9, - "colorMap": "red-yellow-green", - "colorMode": "colormap", - "gradient": [ - "#0000ff", - "#ff00ff" - ], - "reverse": false, - "foxglovePanelTitle": "Battry Voltage" - }, - "Indicator!kobv7j": { - "path": "/pioneer2/robot_info.state.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Inactive", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "Active" - } - ], - "foxglovePanelTitle": "Status" - }, - "Indicator!3evmg8g": { - "path": "/pioneer3/robot_info.clutch.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "Off", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#68e24a", - "label": "On" - } - ], - "foxglovePanelTitle": "Motors" - }, - "RawMessages!232kjnn": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer3/robot_info.twist.linear.x" - }, - "RawMessages!39yb4cs": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer3/robot_info.twist.angular.z" - }, - "RawMessages!s8cav3": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - "topicPath": "/pioneer3/robot_info.minimal_distance.data" - }, - "Indicator!3tawvwf": { - "path": "/pioneer3/robot_info.obstacle_detected.data", - "style": "background", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "👌", - "rules": [ - { - "operator": "=", - "rawValue": "true", - "color": "#ff0000", - "label": "😱" - } - ], - "foxglovePanelTitle": "Obstacle" - }, - "RawMessages!2tprp6m": { - "diffEnabled": false, - "diffMethod": "custom", - "diffTopicPath": "", - "showFullMessageForDiff": false, - 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-from std_msgs.msg import Bool -from ros2aria_msgs.msg import RestrictionsMsg -from rclpy.qos import QoSDurabilityPolicy -from rclpy.qos import QoSHistoryPolicy -from rclpy.qos import QoSLivelinessPolicy -from rclpy.qos import QoSProfile -from rclpy.qos import QoSReliabilityPolicy -import sys - -class RestrictionRepublisher(Node): - - def __init__(self): - - profile = QoSProfile( - depth=10, - history=QoSHistoryPolicy.KEEP_ALL, - reliability=QoSReliabilityPolicy.RELIABLE, - durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) - super().__init__('restriction_republisher') - self.restriction_pub_ = self.create_publisher(RestrictionsMsg, '/pioneers/restrictions', qos_profile=profile) - self.master_stop_pub_ = self.create_publisher(Bool, '/pioneers/master_stop', qos_profile=profile) - self.restriction_sub_ = self.create_subscription(RestrictionsMsg, '/pioneers/restrictions', self.restriction_callback, qos_profile=profile) - self.master_stop_sub_ = self.create_subscription(Bool, '/pioneers/master_stop', self.master_stop_callback, qos_profile=profile) - timer_period = 1.0 - self.timer = self.create_timer(timer_period, self.timer_callback) - - self.master_stop_msg = Bool() - self.restriction_msg = RestrictionsMsg() - self.master_stop_msg. data = True - self.restriction_msg.distance.data = sys.float_info.max - self.restriction_msg.linear_velocity.data = 0.0 - self.restriction_msg.angular_velocity.data = 0.0 - - def timer_callback(self): - self.restriction_pub_.publish(self.restriction_msg) - self.master_stop_pub_.publish(self.master_stop_msg) - - def restriction_callback(self, msg): - if msg != self.restriction_msg: - self.get_logger().info('New restricitons.') - self.restriction_msg = msg - - def master_stop_callback(self, msg): - if msg != self.master_stop_msg: - self.get_logger().info('New master stop.') - self.master_stop_msg = msg - -def main(args=None): - rclpy.init(args=args) - - restriction_republisher = RestrictionRepublisher() - - rclpy.spin(restriction_republisher) - restriction_republisher.destroy_node() - rclpy.shutdown() - - -if __name__ == '__main__': - main() \ No newline at end of file diff --git a/rosbridge_websocket_launch.xml b/rosbridge_websocket_launch.xml deleted file mode 100644 index 9baab29..0000000 --- a/rosbridge_websocket_launch.xml +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file