/** * Creates a new {@link NodeConfiguration} for a {@link Node} that is only * accessible on the local host. * * @return a new {@link NodeConfiguration} for a private {@link Node} */ public static NodeConfiguration newPrivate() { return newPrivate(DEFAULT_MASTER_URI); }
public UiPacketToRosMsgRedirector(DRCRobotModel robotModel, URI rosCoreURI, PacketCommunicator rosAPI_communicator, PacketRouter<PacketDestination> packetRouter, String namespace) { ROS_NAMESPACE = namespace; rosMainNode = new RosMainNode(rosCoreURI, ROS_NAMESPACE, true); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.publishers = new ArrayList<RosTopicPublisher<?>>(); packetRouter.setPacketRedirects(PacketDestination.CONTROLLER, PacketDestination.ROS_API); setupMsgTopics(rosAPI_communicator); rosMainNode.execute(); // rosAPI_communicator.attachGlobalListener(this); }
public UiPacketToRosMsgRedirector(DRCRobotModel robotModel, URI rosCoreURI, PacketCommunicator rosAPI_communicator, PacketRouter<PacketDestination> packetRouter, String namespace) { ROS_NAMESPACE = namespace; rosMainNode = new RosMainNode(rosCoreURI, ROS_NAMESPACE, true); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.publishers = new ArrayList<RosTopicPublisher<?>>(); packetRouter.setPacketRedirects(PacketDestination.CONTROLLER, PacketDestination.ROS_API); setupMsgTopics(rosAPI_communicator); rosMainNode.execute(); // rosAPI_communicator.attachGlobalListener(this); }
public UiPacketToRosMsgRedirector(DRCRobotModel robotModel, URI rosCoreURI, PacketCommunicator rosAPI_communicator, PacketRouter<PacketDestination> packetRouter, String namespace) { ROS_NAMESPACE = namespace; rosMainNode = new RosMainNode(rosCoreURI, ROS_NAMESPACE, true); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.publishers = new ArrayList<RosTopicPublisher<?>>(); packetRouter.setPacketRedirects(PacketDestination.CONTROLLER, PacketDestination.ROS_API); setupMsgTopics(rosAPI_communicator); rosMainNode.execute(); // rosAPI_communicator.attachGlobalListener(this); }
NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate(); MessageFactory messageFactory = nodeConfiguration.getTopicMessageFactory();
StrParameter resolutionParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(StrParameter._TYPE); resolutionParam.setName("resolution"); request.getConfig().getStrs().add(resolutionParam); DoubleParameter fpsParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); fpsParam.setName("fps"); fpsParam.setValue(30.0); DoubleParameter gainParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); gainParam.setName("gain"); gainParam.setValue(3.2);
StrParameter resolutionParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(StrParameter._TYPE); resolutionParam.setName("resolution"); request.getConfig().getStrs().add(resolutionParam); DoubleParameter fpsParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); fpsParam.setName("fps"); fpsParam.setValue(30.0); DoubleParameter gainParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); gainParam.setName("gain"); gainParam.setValue(3.2);
this.publishers = new ArrayList<RosTopicPublisher<?>>(); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.fullRobotModel = robotModel.createFullRobotModel();
NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate(); MessageFactory messageFactory = nodeConfiguration.getTopicMessageFactory();
this.publishers = new ArrayList<RosTopicPublisher<?>>(); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.fullRobotModel = robotModel.createFullRobotModel();
StrParameter resolutionParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(StrParameter._TYPE); resolutionParam.setName("resolution"); request.getConfig().getStrs().add(resolutionParam); DoubleParameter fpsParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); fpsParam.setName("fps"); fpsParam.setValue(30.0); request.getConfig().getDoubles().add(fpsParam); DoubleParameter gainParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); gainParam.setName("gain"); gainParam.setValue(3.2);
this.publishers = new ArrayList<RosTopicPublisher<?>>(); this.nodeConfiguration = NodeConfiguration.newPrivate(); this.messageFactory = nodeConfiguration.getTopicMessageFactory(); this.fullRobotModel = robotModel.createFullRobotModel();
NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate(); MessageFactory messageFactory = nodeConfiguration.getTopicMessageFactory();
if(object.getGain() != gain){ gain = object.getGain(); DoubleParameter gainParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); gainParam.setName("gain"); gainParam.setValue(gain); DoubleParameter motorSpeedParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); motorSpeedParam.setName("motor_speed"); motorSpeedParam.setValue(motorSpeed); DoubleParameter dutyCycleParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); dutyCycleParam.setName("led_duty_cycle"); dutyCycleParam.setValue(dutyCycle); BoolParameter ledEnableParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); ledEnableParam.setName("lighting"); ledEnableParam.setValue(ledEnable); BoolParameter flashEnableParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); flashEnableParam.setName("flash"); flashEnableParam.setValue(flashEnable); BoolParameter autoExposureParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); autoExposureParam.setName("auto_exposure"); autoExposureParam.setValue(autoExposure); BoolParameter autoWhiteBalanceParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); autoWhiteBalanceParam.setName("auto_white_balance"); autoWhiteBalanceParam.setValue(autoWhitebalance);
if(object.getGain() != gain){ gain = object.getGain(); DoubleParameter gainParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); gainParam.setName("gain"); gainParam.setValue(gain); DoubleParameter motorSpeedParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); motorSpeedParam.setName("motor_speed"); motorSpeedParam.setValue(motorSpeed); DoubleParameter dutyCycleParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); dutyCycleParam.setName("led_duty_cycle"); dutyCycleParam.setValue(dutyCycle); BoolParameter ledEnableParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); ledEnableParam.setName("lighting"); ledEnableParam.setValue(ledEnable); BoolParameter flashEnableParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); flashEnableParam.setName("flash"); flashEnableParam.setValue(flashEnable); BoolParameter autoExposureParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); autoExposureParam.setName("auto_exposure"); autoExposureParam.setValue(autoExposure); BoolParameter autoWhiteBalanceParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); autoWhiteBalanceParam.setName("auto_white_balance"); autoWhiteBalanceParam.setValue(autoWhitebalance);
DoubleParameter gainParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); gainParam.setName("gain"); gainParam.setValue(gain); DoubleParameter motorSpeedParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); motorSpeedParam.setName("motor_speed"); motorSpeedParam.setValue(motorSpeed); DoubleParameter dutyCycleParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(DoubleParameter._TYPE); dutyCycleParam.setName("led_duty_cycle"); dutyCycleParam.setValue(dutyCycle); BoolParameter ledEnableParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); ledEnableParam.setName("lighting"); ledEnableParam.setValue(ledEnable); BoolParameter flashEnableParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); flashEnableParam.setName("flash"); flashEnableParam.setValue(flashEnable); BoolParameter autoExposureParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); autoExposureParam.setName("auto_exposure"); autoExposureParam.setValue(autoExposure); BoolParameter autoWhiteBalanceParam = NodeConfiguration.newPrivate().getTopicMessageFactory().newFromType(BoolParameter._TYPE); autoWhiteBalanceParam.setName("auto_white_balance"); autoWhiteBalanceParam.setValue(autoWhitebalance);
@Before public void setUp() throws InterruptedException { rosCore = RosCore.newPrivate(); rosCore.start(); assertTrue(rosCore.awaitStart(1, TimeUnit.SECONDS)); nodeMainExecutor = DefaultNodeMainExecutor.newDefault(); nodeConfiguration = NodeConfiguration.newPrivate(rosCore.getUri()); }