Catching Robot

Let play catch with our robots

• 2. 뽑기.ipynb

• Running the cell code

  Ctrl + Enter

• 3 minute time limit

• Use the joystick to pick up objects

!pm2 start 11 13 14 > /dev/null
!pm2 stop 15 > /dev/null
!pm2 status

import rospy
import random
import time
import subprocess
from std_msgs.msg import Int32MultiArray
from IPython.display import clear_output

def timer():
    sec = 0
    min = 0
    sound_pub = rospy.Publisher('robot_sound', Int32MultiArray, queue_size=1)
    rospy.init_node('gotcha', anonymous=True)
    packet = Int32MultiArray()

    while not rospy.is_shutdown():
        clear_output()
        print("Timer : " + str(min) + " minutes " + str(sec) + " seconds passed")
        time.sleep(1)
        sec += 1

        if min == 0 and sec == 1:
            packet.data = [1, 14, 1]
            sound_pub.publish(packet)

        if sec == 60:
            sec = 0
            min += 1

        if min <= 2 and sec > 10:
            if sec % 15 == 0:
                packet.data = [1, random.randrange(1, 11, 1), 1]
                sound_pub.publish(packet)

        if min == 2 and sec == 0:
            packet.data = [1, 0, 1]
            sound_pub.publish(packet)

        if min == 3 and sec == 0:
            packet.data = [1, 13, 1]
            sound_pub.publish(packet)
            command = "pm2 stop 11 && rostopic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'"
            subprocess.call((command.split('\n')), shell=True)
            break

    rospy.signal_shutdown("killed")

try:
    timer()
except rospy.ROSInterruptException:
    pass