77 lines
2.3 KiB
Python
77 lines
2.3 KiB
Python
import threading
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import rclpy
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from geometry_msgs.msg import Twist
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from rclpy.node import Node
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from sensor_msgs.msg import JointState, Range
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class RobotBridgeNode(Node):
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def __init__(self):
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super().__init__('webui_bridge')
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self._cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
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self._joint_cmd_pub = self.create_publisher(JointState, '/joint_command', 10)
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self.create_subscription(JointState, '/joint_states', self._on_joint_states, 10)
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self.create_subscription(Range, '/ultrasonic/range', self._on_ultrasonic, 10)
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self.on_joint_states_callbacks: list = []
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self.on_ultrasonic_callbacks: list = []
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def publish_cmd_vel(self, linear_x: float, angular_z: float) -> None:
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# print(f'Publishing cmd_vel: linear_x={linear_x}, angular_z={angular_z}')
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msg = Twist()
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msg.linear.x = float(linear_x)
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msg.angular.z = float(angular_z)
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try:
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self._cmd_vel_pub.publish(msg)
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except Exception as e:
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print('Failed to publish cmd_vel:', e)
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# self._cmd_vel_pub.publish(msg)
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def publish_joint_command(self, pan: float, tilt: float) -> None:
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msg = JointState()
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msg.header.stamp = self.get_clock().now().to_msg()
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msg.name = ['pan', 'tilt']
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msg.position = [float(pan), float(tilt)]
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self._joint_cmd_pub.publish(msg)
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def _on_joint_states(self, msg: JointState) -> None:
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data = {'type': 'joint_states', 'positions': dict(zip(msg.name, msg.position))}
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for cb in self.on_joint_states_callbacks:
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cb(data)
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def _on_ultrasonic(self, msg: Range) -> None:
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data = {'type': 'ultrasonic', 'range': msg.range}
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for cb in self.on_ultrasonic_callbacks:
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cb(data)
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_node: RobotBridgeNode | None = None
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_spin_thread: threading.Thread | None = None
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def start_ros() -> RobotBridgeNode:
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global _node, _spin_thread
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rclpy.init()
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_node = RobotBridgeNode()
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_spin_thread = threading.Thread(target=rclpy.spin, args=(_node,), daemon=True)
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_spin_thread.start()
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return _node
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def get_node() -> RobotBridgeNode:
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assert _node is not None, "ROS node not started"
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return _node
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def stop_ros() -> None:
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global _node
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try:
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if _node:
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_node.destroy_node()
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rclpy.shutdown()
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except Exception:
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pass
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