From d3b40e8189050dc17752c6dba37425f704d35690 Mon Sep 17 00:00:00 2001 From: William Loo Date: Fri, 13 Mar 2020 01:43:36 -0700 Subject: [PATCH] add razor imuserial to rostopic code --- robosub/imu_to_rostopic.py | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) create mode 100644 robosub/imu_to_rostopic.py diff --git a/robosub/imu_to_rostopic.py b/robosub/imu_to_rostopic.py new file mode 100644 index 0000000..d1c23d7 --- /dev/null +++ b/robosub/imu_to_rostopic.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python +import serial +import rospy +from std_msgs.msg import String + +ser = serial.Serial('/dev/ttyACM0') + +pub = rospy.Publisher('razor-imu', String, queue_size=10) + +def imu(): + rospy.init_node('razor-imu', anonymous=True) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + output = str(ser.readline()) + rospy.loginfo(output) + pub.publish(hello_str) + rate.sleep() + +if __name__ == '__main__': + try: + imu() + except rospy.ROSInterruptException: + pass \ No newline at end of file