Turbot与python编程-实现获取上网本电池信息

Turbot与python教程-实现获取上网本电池信息

说明：

• 介绍如何实现通过python控制turbot实现获取上网本电池信息

代码：

• 参考代码：github
• 实现代码：

# Monitor the netbook's battery level

import roslib
import rospy
from smart_battery_msgs.msg import SmartBatteryStatus #for netbook battery

class netbook_battery():

	def __init__(self):
		rospy.init_node("netbook_battery")		

		#monitor netbook's battery status.  Everytime anything changes call the call back function self.NetbookPowerEventCallback and pass the data regarding the current battery status
		rospy.Subscriber("/laptop_charge/",SmartBatteryStatus,self.NetbookPowerEventCallback)

		#rospy.spin() tells the program to not exit until you press ctrl + c.  If this wasn't there... it'd subscribe to /laptop_charge/ then immediatly exit (therefore stop "listening" to the thread).
		rospy.spin();


	def NetbookPowerEventCallback(self,data):
		print("Percent: " + str(data.percentage)) 
		print("Charge: " + str(data.charge))
		if(int(data.charge_state) == 1):
			print("Currently charging")
		else:
			print("Not charging")
		print("-----")
		#Tip: try print(data) for a complete list of information available in the /laptop_charge/ thread

if __name__ == '__main__':
	try:
		netbook_battery()
	except rospy.ROSInterruptException:
		rospy.loginfo("exception")

演示：

• 主机，新终端，启动底盘

$ roslaunch turbot_bringup minimal.launch

• 从机，新终端，启动脚本

$ rosrun turbot_code netbookBattery.py