32 lines
1.2 KiB
Python
Executable file
32 lines
1.2 KiB
Python
Executable file
#! /usr/bin/python
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import rospy
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from geometry_msgs.msg import Twist
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from std_msgs.msg import Float64
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class UnTwister:
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def __init__(self):
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self.twist = Twist()
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self.linear_x = rospy.Publisher('measure_linear_x', Float64, queue_size=1)
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self.linear_y = rospy.Publisher('measure_linear_y', Float64, queue_size=1)
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self.linear_z = rospy.Publisher('measure_linear_z', Float64, queue_size=1)
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self.angular_x = rospy.Publisher('measure_angular_x', Float64, queue_size=1)
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self.angular_y = rospy.Publisher('measure_angular_y', Float64, queue_size=1)
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self.angular_z = rospy.Publisher('measure_angular_z', Float64, queue_size=1)
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self.input = rospy.Subscriber('input', Twist, self.on_compute, queue_size=1)
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def on_compute(self, twist):
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self.linear_x.publish(twist.linear.x)
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self.linear_y.publish(twist.linear.y)
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self.linear_z.publish(twist.linear.z)
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self.angular_x.publish(twist.angular.x)
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self.angular_y.publish(twist.angular.y)
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self.angular_z.publish(twist.angular.z)
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if __name__ == '__main__':
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rospy.init_node('untwist')
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twister = UnTwister()
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rospy.spin()
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