/usr/lib/python3/dist-packages/morse/middleware/ros/accelerometer.py is in python3-morse-simulator 1.4-2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 | from geometry_msgs.msg import Twist
from morse.middleware.ros import ROSPublisher
class TwistPublisher(ROSPublisher):
""" Publish the velocity of the acceleromter sensor.
No angular information, only linear ones.
"""
ros_class = Twist
def default(self, ci='unused'):
twist = Twist()
twist.header = self.get_ros_header()
# Fill twist-msg with the values from the sensor
twist.linear.x = self.data['velocity'][0]
twist.linear.y = self.data['velocity'][1]
twist.linear.z = self.data['velocity'][2]
self.publish(twist)
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