[英]How can I properly call a method from its callback method within a class?
I Have a code with two functions. 我有两个功能的代码。 Function 'send_thread' and Function 'receive_thread' which is the callback of 'send_thread'.
函数“ send_thread”和函数“ receive_thread”是“ send_thread”的回调。 What I want to do is to run 'send_thread', this activates 'receive_thread' and once it's over repeat it all again.
我想做的是运行“ send_thread”,这会激活“ receive_thread”,一旦结束,请再重复一次。 To do so, I have come up with the code below.
为此,我想出了以下代码。 This is not giving the desired results, since the 'send_thread' gets called again but doesn't activate the callback anymore.
这并没有达到预期的效果,因为再次调用了“ send_thread”,但不再激活回调。 Thank you in advance for your help.
预先感谢您的帮助。
I have noticed, that the function gets called at the end of the receive_thread and runs for the amount of time that I wait in the send_thread (rospy.sleep()). 我注意到,该函数在receive_thread的末尾被调用,并在我在send_thread(rospy.sleep())中等待的时间范围内运行。 I does never activate the callback again after the first try though.
但是,在第一次尝试后,我再也不会激活回调。
import rospy
import pepper_2d_simulator
import threading
class TROS(object):
def __init__(self):
self.cmd_vel_pub = rospy.Publisher('cmd_vel',Twist)
self.event = threading.Event()
def send_thread(self):
#send commmand
self.event.set()
sequence = [[1,0,0.05],[0,0,0],[0,0,0.1292]]
for cmd in sequence:
rospy.Rate(0.5).sleep()
msg = Twist()
msg.linear.x = cmd[0]
msg.linear.y = cmd[1]
msg.angular.z = cmd[2]
t = rospy.get_rostime()
self.cmd_vel_pub.publish(msg)
self.event.clear()
rospy.sleep(1)
def receive_thread(self,msg):
#if something is being send, listen to this
if self.event.isSet():
frame_id = msg.header.frame_id
self.x_odom = msg.pose.pose.position.x
self.y_odom = msg.pose.pose.position.y
self.z_odom = msg.pose.pose.position.z
self.pos_odom = [self.x_odom,self.y_odom,self.z_odom,1]
self.ang_odom = msg.pose.pose.orientation.z
self.time = msg.header.stamp.secs + msg.header.stamp.nsecs
#some transformations here to get self.trans...
else:
#after self.event() is cleared, rename and run again
self.x_odom = self.trans_br_x
self.y_odom = self.trans_br_y
self.ang_odom = self.rot_br_ang
self.send_thread()
def init_node(self):
rospy.init_node('pepper_cmd_evaluator',anonymous = True)
rospy.Subscriber('odom',Odometry,self.receive_thread)
if __name__ == '__main__':
thinking = Thinking()
thinking.init_node()
thinking.send_thread()
The expected result is that I am able to loop this two function so that I call send_thread, this activates receive thread. Then send_thread stops, receive_thread stops and activates the send_thread again. I want to do this 10 times.
I have now figured out how to this. 我现在想通了。 I will post my solution in case anyone else runs into a similar problem.
如果有人遇到类似问题,我将发布解决方案。 The working solution I came up with is pretty simple.
我想出的可行解决方案非常简单。 I created a self.flag variable and alternatively set it to True and False in the send_thread and callback respectively.
我创建了一个self.flag变量,并在send_thread和callback中分别将其设置为True和False。 The code:
编码:
import rospy
import pepper_2d_simulator
import threading
class TROS(object):
def __init__(self):
self.cmd_vel_pub = rospy.Publisher('cmd_vel',Twist)
self.event = threading.Event()
self.count = 0
self.flag = True
def send_thread(self):
while self.count < 10:
if self.flag:
self.count = self.count + 1
#send commmand
self.event.set()
sequence = [[1,0,0.05],[0,0,0],[0,0,0.1292]]
for cmd in sequence:
rospy.Rate(0.5).sleep()
msg = Twist()
msg.linear.x = cmd[0]
msg.linear.y = cmd[1]
msg.angular.z = cmd[2]
t = rospy.get_rostime()
self.cmd_vel_pub.publish(msg)
self.event.clear()
rospy.sleep(0.3)
self.flag = False
rospy.signal_shutdown('Command finished')
def receive_thread(self,msg):
#if something is being send, listen to this
if self.event.isSet():
frame_id = msg.header.frame_id
self.x_odom = msg.pose.pose.position.x
self.y_odom = msg.pose.pose.position.y
self.z_odom = msg.pose.pose.position.z
self.pos_odom = [self.x_odom,self.y_odom,self.z_odom,1]
self.ang_odom = msg.pose.pose.orientation.z
self.time = msg.header.stamp.secs + msg.header.stamp.nsecs
#some transformations here to get self.trans...
else:
#after self.event() is cleared, rename and run again
self.x_odom = self.trans_br_x
self.y_odom = self.trans_br_y
self.ang_odom = self.rot_br_ang
self.flag = True
def init_node(self):
rospy.init_node('pepper_cmd_evaluator',anonymous = True)
rospy.Subscriber('odom',Odometry,self.receive_thread)
if __name__ == '__main__':
thinking = Thinking()
thinking.init_node()
thinking.send_thread()
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