/usr/lib/python3/dist-packages/morse/middleware/ros/motion_xyw.py is in python3-morse-simulator 1.4-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 | import logging; logger = logging.getLogger("morse." + __name__)
from geometry_msgs.msg import Twist
from morse.middleware.ros import ROSSubscriber
class TwistReader(ROSSubscriber):
""" Subscribe to a motion command and set ``x``, ``y`` and ``w`` local data. """
ros_class = Twist
def update(self, message):
self.data["x"] = message.linear.x
self.data["y"] = message.linear.y
self.data["w"] = message.angular.z # yaw
logger.debug("Executing x,y,omega movement: <%s, %s, %s>"%
(message.linear.x, message.linear.y, message.angular.z))
|