Source code for morse.middleware.ros.motion_xyw

import logging; logger = logging.getLogger("morse." + __name__)
from geometry_msgs.msg import Twist
from morse.middleware.ros import ROSSubscriber

[docs]class TwistReader(ROSSubscriber): """ Subscribe to a motion command and set ``x``, ``y`` and ``w`` local data. """ ros_class = Twist
[docs] def update(self, message): self.data["x"] = message.linear.x self.data["y"] = message.linear.y self.data["w"] = message.angular.z # yaw logger.debug("Executing x,y,omega movement: <%s, %s, %s>"% (message.linear.x, message.linear.y, message.angular.z))