cybot_demo.py

#!/usr/bin/env python
# license removed for brevity
import rospy
import time
from std_msgs.msg import String

timeSleep = 1
def talker():
    pub = rospy.Publisher('/cybot_btt_cmd', String, queue_size=10)
    rospy.init_node('serial_node', anonymous=True)
    time.sleep(timeSleep)
    rate = rospy.Rate(10) # 10hz 
    hello_str = "MOVE<X>20000</X>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<X>-20000</X><Y>20000</Y>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<X>30000</X><Y>-20000</Y><Z>-20000</Z>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<E2>5000</E2><E1>-20000</E1><X>-30000</X><Z>20000</Z><E0>20000</E0><Y>-5000</Y>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<E2>-10000</E2><E1>20000</E1><E0>-20000</E0><Y>5000</Y>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<E2>5000</E2><E0>-20000</E0>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<E0>20000</E0><Y>40000</Y><X>-30000</X><Z>40000</Z><E1>-20000</E1>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
    hello_str = "MOVE<Y>-40000</Y><X>30000</X><Z>-40000</Z><E1>20000</E1>" 
    rospy.loginfo(hello_str)
    pub.publish(hello_str)
    rate.sleep()
    time.sleep(timeSleep)
   

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass