rospy.loginfo("Reset Status: 0x%x" % reset_val)
i = 0
while not rospy.is_shutdown():
+ rospy.logdebug("Loop alive")
#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
self.get_motor_err()
self.get_odom()
i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
def cmdVelReceived(self, msg):
+ rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
+ rospy.logdebug("Set new cmd_vel done")
# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
def get_dist_ir(self, num):