65 lines
2.5 KiB
Python
Executable File
65 lines
2.5 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Martin Günther
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import rospy
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from nav_msgs.msg import Odometry
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lin_min = 0.0
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lin_max = 0.0
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ang_min = 0.0
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ang_max = 0.0
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def odom_cb(msg):
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global lin_min, lin_max, ang_min, ang_max
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if lin_min > msg.twist.twist.linear.x:
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lin_min = msg.twist.twist.linear.x
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if lin_max < msg.twist.twist.linear.x:
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lin_max = msg.twist.twist.linear.x
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if ang_min > msg.twist.twist.angular.z:
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ang_min = msg.twist.twist.angular.z
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if ang_max < msg.twist.twist.angular.z:
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ang_max = msg.twist.twist.angular.z
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rospy.loginfo('linear: [%f, %f] angular: [%f, %f]', lin_min, lin_max, ang_min, ang_max)
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def main():
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rospy.init_node('min_max_finder', anonymous=True)
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rospy.Subscriber('odom', Odometry, odom_cb)
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rospy.loginfo('min_max_finde node ready and listening. now use teleop to move your robot to the limits!')
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rospy.spin()
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if __name__ == '__main__':
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main()
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