yoneken

import socket
from pyubx2 import UBXReader
from pynmeagps.nmeamessage import NMEAMessage

st_ubx = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
st_ubx.connect(("localhost", 2001)) # RTKLIB's strsvr or something

st_vel = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

ubr = UBXReader(st_ubx, protfilter=7)

yoneken

from urllib.request import Request, urlopen
import json
from socket import socket, AF_INET, SOCK_DGRAM
import cv2
import numpy as np

SELF_IP = '192.168.0.102'
TIPRON_IP = '192.168.0.106'
RECEIVE_PORT = 8082

yoneken

# coding: utf-8
import serial
import time

def calibration(s):
	s.write(str.encode('p'))
	time.sleep(0.1)
	reply = s.read(100).decode("shift_jis")
	s_calib = reply.split(",")
	return [float(s) for s in s_calib]

yoneken

/*
 *
 *  ROS iCarbot driver
 *
 *  Copyright (C) 2017  Kenta Yonekura <yoneken@ieee.org>
 *
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or

yoneken

#!/usr/local/bin/python
import random
import collections

(
  Sunny,
  Cloudy,
  Rainy,
) = range(0, 3)

yoneken

export ROS_MASTER_URI=http://localhost:11311
export ROS_IP=`ifconfig en0 | grep 'inet ' | sed -e 's/^.*inet //' -e 's/ .*//'`

yoneken

roboy@roboy:~/ros_catkin_ws$ roslaunch hector_slam_example hector_hokuyo_eth.launch
... logging to /home/roboy/.ros/log/4f2ea430-8e06-11e5-8ac2-fcaa141f0ea2/roslaunch-roboy-1748.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://roboy:45926/

SUMMARY
========

yoneken

[rosmaster.main][INFO] 2015-07-14 02:48:14,635: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2015-07-14 02:48:14,637: Starting ROS Master Node
[xmlrpc][INFO] 2015-07-14 02:48:14,642: XML-RPC server binding to 0.0.0.0:11311
[rosmaster.master][INFO] 2015-07-14 02:48:14,647: Master initialized: port[11311], uri[http://beaglebone:11311/]
[xmlrpc][INFO] 2015-07-14 02:48:14,647: Started XML-RPC server [http://beaglebone:11311/]
[xmlrpc][INFO] 2015-07-14 02:48:14,649: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2015-07-14 02:48:14,737: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2015-07-14 02:48:14,753: +PARAM [/roslaunch/uris/host_beaglebone__46997] by /roslaunch
[rosmaster.master][INFO] 2015-07-14 02:48:15,057: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2015-07-14 02:48:15,063: +PARAM [/robot_description] by /roslaunch

yoneken

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /DepthCloud1/Auto Size1
      Splitter Ratio: 0.5

yoneken

catkin yoneken$ roslaunch hector_slam_example hector_hokuyo_eth.launch
... logging to /Users/yoneken/.ros/log/474a123a-c7f1-11e4-873a-600308a9ac9c/roslaunch-***.***.***.***-42487.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

started roslaunch server http://***.***.***.***:62399/

SUMMARY
========