ROS与上位机和底层的通信-研电赛[2]

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

import pyttsx3
engine = pyttsx3.init()
voices = engine.setProperty('voice','zh')#其中zh表示合成中文
# 播放速度
rate = engine.getProperty('rate')
engine.setProperty('rate', rate-65)
# 声音
volume = engine.getProperty('volume')
engine.setProperty('volume', volume-0.5)

#engine.say('机器人进入充电区域，开始充电')
engine.say('I am ready!')
engine.runAndWait()



import rospy

from std_msgs.msg import String

import serial
import thread
import time

ser = serial.Serial('/dev/ttyUSB1', 115200, timeout=0.5)
flag = 0
# 为线程定义一个函数
def send_data( threadName, delay):
   count = 0
   while True:
      global flag
      time.sleep(delay)
      if flag != 1 :
          continue;
      ser.write("charging\n")

def rcv_data( threadName, delay):
   count = 0
   while True:
      global flag
      time.sleep(delay)
      #if flag != 1:
          #continue;
      data = ser.read(30)
      print(data)
      if "OK" in data :
          flag = 2;

# 创建两个线程
try:
   thread.start_new_thread( rcv_data, ("Thread-1", 0.2, ) )
   thread.start_new_thread( send_data, ("Thread-2", 1, ) )
except:
   print "Error: unable to start thread"

def callback(data):
    global flag
    
    if "ready" in data.data :
        if flag != 2:
             flag = 1
        rospy.loginfo('I heard %s', data.data)
        rospy.loginfo('%d', flag)

if __name__ == "__main__":

    rospy.init_node('crobot_vision_base')
    rospy.Subscriber('chatter',String,callback)
    rospy.spin()

<launch>


    <include file="$(find crobot_bringup)/launch/crobot.launch" />
    <include file="$(find crobot_bringup)/launch/include/lidar.launch" />

    <include file="$(find crobot_vision)/launch/crobot_freenect.launch" />


    <!--<node pkg="crobot_vision" type="crobot_vision_position" name="crobot_vision_position" output="screen" /> -->
    <!-- <node pkg="crobot_vision" type="crobot_vision_guide" name="crobot_vision_guide" output="screen" />  -->


</launch>

<launch> 
 
 
 
    <include file="$(find crobot_navigation)/launch/navigation.launch" /> 
 
    <include file="$(find crobot_vision)/launch/ar_track_kinect.launch" /> 
 
 
    <node pkg="crobot_vision" type="crobot_vision_guide" name="crobot_vision_guide" output="screen" /> 
 
 
</launch> 

stone@crobot:~$ roslaunch crobot_vision crobot_vision_1.launch 
stone@crobot:~$ roslaunch crobot_vision crobot_vision_2.launch 
stone@crobot:~$ rosrun crobot_vision crobot_vision_base.py