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Commit 5306901d authored by beuchatp's avatar beuchatp
Browse files

Small changes... cannot quite remember what

parent 39b458bd
# TO RUN THE SYSTEM FULLY ON THE LOCAL COMPUTER: # TO RUN THE SYSTEM FULLY ON THE LOCAL COMPUTER:
#export ROS_MASTER_URI=http://localhost:11311 export ROS_MASTER_URI=http://localhost:11311
# TO RUN THE SYSTEM ON A DEFAULT CONFIGURATION OF THE NETWROK: # TO RUN THE SYSTEM ON A DEFAULT CONFIGURATION OF THE NETWROK:
export ROS_MASTER_URI=http://teacher:11311 #export ROS_MASTER_URI=http://teacher:11311
# OTHER NECESSARY ENVIRONMENT VARIABLES: # OTHER NECESSARY ENVIRONMENT VARIABLES:
export ROS_IP=$(hostname -I | awk '{print $1;}') export ROS_IP=$(hostname -I | awk '{print $1;}')
export DFALL_DEFAULT_AGENT_ID=$(cat /etc/dfall_default_agent_id) export DFALL_DEFAULT_AGENT_ID=$(cat /etc/dfall_default_agent_id)
......
#!/usr/bin/env python #!/usr/bin/python3.5
# -*- coding: utf-8 -*- # -*- coding: utf-8 -*-
# OPTIONS: #!/usr/bin/env python
# OR: #!/usr/bin/python3
# WHERE THE KEY INSTALLATIONS TO USE python3 ARE:
# sudo apt-get install python3-pip python3-yaml
# pip3 install rospkg catkin_pkg --user
# pip3 install qtm --user
# Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat # Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
# #
# This file is part of D-FaLL-System. # This file is part of D-FaLL-System.
...@@ -116,7 +125,7 @@ import qtm ...@@ -116,7 +125,7 @@ import qtm
# Setup the ROS logging # Setup the ROS logging
rp = RosPack() rp = RosPack()
record_file = rp.get_path('dfall_pkg') + '/LoggingOnboard.bag' record_file = rp.get_path('dfall_pkg') + '/LoggingOnboard.bag'
rospy.loginfo('afdsasdfasdfsadfasdfasdfasdfasdfasdfasdf') #rospy.loginfo('afdsasdfasdfsadfasdfasdfasdfasdfasdfasdf')
rospy.loginfo(record_file) rospy.loginfo(record_file)
bag = rosbag.Bag(record_file, 'w') bag = rosbag.Bag(record_file, 'w')
...@@ -373,8 +382,8 @@ class QualisysDataPublisher: ...@@ -373,8 +382,8 @@ class QualisysDataPublisher:
# return self._status # return self._status
# CALLBACK FOR QTM DISCONNECTED # CALLBACK FOR QTM DISCONNECTED
#async def on_qtm_disconnect(self, reason): async def on_qtm_disconnect(self, reason):
def on_qtm_disconnect(self, reason): #def on_qtm_disconnect(self, reason):
# "Clear" the QTM connection object # "Clear" the QTM connection object
self._qtm_connection = None self._qtm_connection = None
...@@ -387,11 +396,11 @@ class QualisysDataPublisher: ...@@ -387,11 +396,11 @@ class QualisysDataPublisher:
# GETTERS AND SETTERS # GETTERS AND SETTERS
@qtmStatus.setter # @qtmStatus.setter
def qtmStatus(self, value): # def qtmStatus(self, value):
if value != self._qtm_status: # if value != self._qtm_status:
self._qtm_status = value # self._qtm_status = value
print "[QUALISYS DATA PUBLISHER] QTM Connection status changed to: %s" % self._qtm_status # rospy.loginfo("[QUALISYS DATA PUBLISHER] QTM Connection status changed to: %s", self._qtm_status)
...@@ -441,10 +450,12 @@ if __name__ == '__main__': ...@@ -441,10 +450,12 @@ if __name__ == '__main__':
# > The "Qualisys Computer" runs the "QTM" software that # > The "Qualisys Computer" runs the "QTM" software that
# is the heart of the Qualisys Motion Capture system # is the heart of the Qualisys Motion Capture system
if not rospy.has_param("~hostName"): if not rospy.has_param("~hostName"):
print"[QUALISYS DATA PUBLISHER] ERROR, hostName parameter not found." rospy.loginfo("[QUALISYS DATA PUBLISHER] ERROR, hostName parameter not found.")
qtm_ip = rospy.get_param("~hostName") qtm_ip = rospy.get_param("~hostName")
# INFORM THE USER
rospy.loginfo("[QUALISYS DATA PUBLISHER] Now attempting to connection to QTM server at IP address: %s", qtm_ip)
# ENTER A WHILE LOOP FOR ATTEMPTING TO CONNECT # ENTER A WHILE LOOP FOR ATTEMPTING TO CONNECT
qtm_is_connected = False qtm_is_connected = False
...@@ -452,6 +463,7 @@ if __name__ == '__main__': ...@@ -452,6 +463,7 @@ if __name__ == '__main__':
while not(qtm_is_connected): while not(qtm_is_connected):
# ATTEMPT TO CONNECT TO THE QTM MANAGER # ATTEMPT TO CONNECT TO THE QTM MANAGER
connection = await qtm.connect("127.0.0.1")
connection = await qtm.connect( connection = await qtm.connect(
qtm_ip, qtm_ip,
on_event=self.on_qtm_event, on_event=self.on_qtm_event,
...@@ -476,7 +488,7 @@ if __name__ == '__main__': ...@@ -476,7 +488,7 @@ if __name__ == '__main__':
# PAUSE FOR A SECOND AND THEN SPIN # PAUSE FOR A SECOND AND THEN SPIN
time.sleep(1.0) time.sleep(1.0)
print "[QUALISYS DATA PUBLISHER] Node READY :-)" rospy.loginfo("[QUALISYS DATA PUBLISHER] Node READY :-)")
rospy.spin() rospy.spin()
# #
......
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