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#!/usr/bin/env python # encoding: utf8 import rospy import turtlesim from turtlesim.msg import Pose from turtlesim.srv import SetPenRequest from TurtlesimSIU import TurtlesimSIU from geometry_msgs.msg import Twist from sensor_msgs.msg import Image import math import signal import sys import numpy as np VISUALIZE = True def signal_handler(sig, frame): print ("Terminating") sys.exit(0) if __name__ == "__main__": # Initialize ROS node signal.signal(signal.SIGINT, signal_handler) rospy.init_node('siu_example', anonymous=False) turtle_api = TurtlesimSIU.TurtlesimSIU() rate = rospy.Rate(10) set_pen_req = turtlesim.srv.SetPenRequest(r=255, g=255, b=255, width=5, off=0) #set_pen_req = turtlesim.srv.SetPenRequest(r=255, g=255, b=255, width=5, off=1) if turtle_api.hasTurtle('turtle1'): turtle_api.killTurtle('turtle1') # rospy.sleep(2) if not turtle_api.hasTurtle('turtle1'): turtle_api.spawnTurtle('turtle1',turtlesim.msg.Pose(x=10,y=5,theta=90)) color_api = TurtlesimSIU.ColorSensor('turtle1')
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