DRC Vehicle commands via rospy

asked 2015-06-16 23:32:31 -0500

karthikj219 gravatar image

Hi, I am trying to control the DRC Vehicle using a python code to substitute the rostopic pub commands given through the terminal, however, I'm not making much headway. On running the code, rostopic echo returns the default values for all parameters. This is the code I have tried: (I'm very new to ROS and Gazebo, recently started learning)

import roslib; roslib.loadmanifest('vehiclecontrol') import rospy from stdmsgs.msg import Float64 from stdmsgs.msg import Int8

def mover(): rospy.initnode('vehiclecontrol')

rospy.loginfo("Release brake.")
pub1=rospy.Publisher('/drc_vehicle_xp900/hand_brake/cmd', Float64)
pub1.publish(data=0.0)
rospy.sleep(3);

rospy.loginfo("Moving forward.")
pub2=rospy.Publisher('/drc_vehicle_xp900/gas_pedal/cmd', Float64)
pub2.publish(data=1.0)
rospy.sleep(3);

rospy.loginfo("Turning right.")
pub3=rospy.Publisher('/drc_vehicle_xp900/hand_wheel/cmd', Float64)
pub3.publish(data=3.14)
rospy.sleep(3);

rospy.loginfo("Killing engine.")
pub5=rospy.Publisher('/drc_vehicle_xp900/key/cmd', Int8)
pub5.publish(data=0)
rospy.sleep(3);

if name == 'main': try: mover() except rospy.ROSInterruptException: pass

Any help would be great, thanks in advance!

edit retag flag offensive close merge delete