Commit db88ab25 authored by xiaoqiang_user's avatar xiaoqiang_user

add node controller

parent 1094c673
# The default ``config.py``
# flake8: noqa
def set_prefs(prefs):
"""This function is called before opening the project"""
# Specify which files and folders to ignore in the project.
# Changes to ignored resources are not added to the history and
# VCSs. Also they are not returned in `Project.get_files()`.
# Note that ``?`` and ``*`` match all characters but slashes.
# '*.pyc': matches 'test.pyc' and 'pkg/test.pyc'
# 'mod*.pyc': matches 'test/mod1.pyc' but not 'mod/1.pyc'
# '.svn': matches 'pkg/.svn' and all of its children
# 'build/*.o': matches 'build/lib.o' but not 'build/sub/lib.o'
# 'build//*.o': matches 'build/lib.o' and 'build/sub/lib.o'
prefs['ignored_resources'] = ['*.pyc', '*~', '.ropeproject',
'.hg', '.svn', '_svn', '.git', '.tox']
# Specifies which files should be considered python files. It is
# useful when you have scripts inside your project. Only files
# ending with ``.py`` are considered to be python files by
# default.
# prefs['python_files'] = ['*.py']
# Custom source folders: By default rope searches the project
# for finding source folders (folders that should be searched
# for finding modules). You can add paths to that list. Note
# that rope guesses project source folders correctly most of the
# time; use this if you have any problems.
# The folders should be relative to project root and use '/' for
# separating folders regardless of the platform rope is running on.
# 'src/my_source_folder' for instance.
# prefs.add('source_folders', 'src')
# You can extend python path for looking up modules
# prefs.add('python_path', '~/python/')
# Should rope save object information or not.
prefs['save_objectdb'] = True
prefs['compress_objectdb'] = False
# If `True`, rope analyzes each module when it is being saved.
prefs['automatic_soa'] = True
# The depth of calls to follow in static object analysis
prefs['soa_followed_calls'] = 0
# If `False` when running modules or unit tests "dynamic object
# analysis" is turned off. This makes them much faster.
prefs['perform_doa'] = True
# Rope can check the validity of its object DB when running.
prefs['validate_objectdb'] = True
# How many undos to hold?
prefs['max_history_items'] = 32
# Shows whether to save history across sessions.
prefs['save_history'] = True
prefs['compress_history'] = False
# Set the number spaces used for indenting. According to
# :PEP:`8`, it is best to use 4 spaces. Since most of rope's
# unit-tests use 4 spaces it is more reliable, too.
prefs['indent_size'] = 4
# Builtin and c-extension modules that are allowed to be imported
# and inspected by rope.
prefs['extension_modules'] = []
# Add all standard c-extensions to extension_modules list.
prefs['import_dynload_stdmods'] = True
# If `True` modules with syntax errors are considered to be empty.
# The default value is `False`; When `False` syntax errors raise
# `rope.base.exceptions.ModuleSyntaxError` exception.
prefs['ignore_syntax_errors'] = False
# If `True`, rope ignores unresolvable imports. Otherwise, they
# appear in the importing namespace.
prefs['ignore_bad_imports'] = False
# If `True`, rope will insert new module imports as
# `from <package> import <module>` by default.
prefs['prefer_module_from_imports'] = False
# If `True`, rope will transform a comma list of imports into
# multiple separate import statements when organizing
# imports.
prefs['split_imports'] = False
# If `True`, rope will remove all top-level import statements and
# reinsert them at the top of the module when making changes.
prefs['pull_imports_to_top'] = True
# If `True`, rope will sort imports alphabetically by module name instead
# of alphabetically by import statement, with from imports after normal
# imports.
prefs['sort_imports_alphabetically'] = False
# Location of implementation of
# rope.base.oi.type_hinting.interfaces.ITypeHintingFactory In general
# case, you don't have to change this value, unless you're an rope expert.
# Change this value to inject you own implementations of interfaces
# listed in module rope.base.oi.type_hinting.providers.interfaces
# For example, you can add you own providers for Django Models, or disable
# the search type-hinting in a class hierarchy, etc.
prefs['type_hinting_factory'] = (
'rope.base.oi.type_hinting.factory.default_type_hinting_factory')
def project_opened(project):
"""This function is called after opening the project"""
# Do whatever you like here!
}q.
\ No newline at end of file
<launch>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/ttyUSB002"/>
<param name="serial_baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
<param name="serial_port" type="string" value="/dev/ttyUSB002"/>
<param name="serial_baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="laserlink_broadcaster" args="0.3 0 0.3 3.1415926 0 0 base_link laser 100"/>
<node pkg="tf" type="static_transform_publisher" name="laserlink_broadcaster" args="0.0 0 0.3 3.1415926 0 0 base_link laser 100"/>
<include file="$(find laser_filters)/examples/shadow_filter_a2.launch"/>
</launch>
#!/usr/bin/env python
# encoding=utf-8
"""
rplidar节点管理程序。在rplidar节点运行不正常的时候重启rpliar节点
"""
import rospy
import roslaunch
import time
from galileo_serial_server.msg import GalileoStatus
LAST_UPDATE_TIME = 0
NAV_FLAG = False
def get_scan(scan):
global LAST_UPDATE_TIME
LAST_UPDATE_TIME = int(time.time())
def get_galileo_status(status):
global NAV_FLAG
if status.navStatus == 0:
NAV_FLAG = False
else:
NAV_FLAG = True
if __name__ == "__main__":
rospy.init_node("rplidar_manager")
rospy.Subscriber("/scan", rospy.AnyMsg, get_scan)
rospy.Subscriber("/galileo/status", GalileoStatus, get_galileo_status)
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
rplidar_launch = roslaunch.parent.ROSLaunchParent(
uuid, ["/home/xiaoqiang/Documents/ros/src/rplidar_ros/launch/rplidar.launch"])
rplidar_launch.start()
rospy.loginfo("rplidar started")
while not rospy.is_shutdown():
time.sleep(5)
# 处于导航状态下且无法收到雷达数据
if int(time.time()) - LAST_UPDATE_TIME > 5 and NAV_FLAG:
rospy.logerr("restart rplidar node")
rplidar_launch.shutdown()
roslaunch.configure_logging(uuid)
rplidar_launch = roslaunch.parent.ROSLaunchParent(
uuid, ["/home/xiaoqiang/Documents/ros/src/rplidar_ros/launch/rplidar.launch"])
rplidar_launch.start()
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