Source code for morse.middleware.ros.accelerometer

from geometry_msgs.msg import Twist
from morse.middleware.ros import ROSPublisher

[docs]class TwistPublisher(ROSPublisher): """ Publish the velocity of the acceleromter sensor. No angular information, only linear ones. """ ros_class = Twist
[docs] def default(self, ci='unused'): twist = Twist() twist.header = self.get_ros_header() # Fill twist-msg with the values from the sensor twist.linear.x = self.data['velocity'][0] twist.linear.y = self.data['velocity'][1] twist.linear.z = self.data['velocity'][2] self.publish(twist)