Source code for morse.middleware.ros.read_twist
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 Twist topic and set ``vx``, ``vy``, ``vz`` and ``vroll``,
``vpitch``, ``vyaw`` local data.
"""
ros_class = Twist
[docs] def update(self, message):
self.data["vx"] = message.linear.x
self.data["vy"] = message.linear.y
self.data["vz"] = message.linear.z
self.data['vroll'] = message.angular.x
self.data['vpitch'] = message.angular.y
self.data['vyaw'] = message.angular.z