$ rostopic list
/diagnostics
/head/tilt
/rosout
/rosout_agg
$ rostopic pub -1 /head/tiltstd_msgs/Float32 0.4
$ rostopic pub -1 /head/tilt std_msgs/Float320.9
Terry和Houndbot都是ROS機(jī)器人，以6061個(gè)鋁合金零件制造而成。項(xiàng)目的目標(biāo)是要盡量讓這些機(jī)器人自主運(yùn)動(dòng)。
以下的Python腳本程序會(huì)監(jiān)聽「/head/tilt/smooth」的訊息，朝「/head/tilt」發(fā)布許多訊息，好讓伺服機(jī)轉(zhuǎn)到目標(biāo)角度之前慢慢加速，再慢慢延遲旋轉(zhuǎn)。當(dāng)訊息抵達(dá)「/head/tilt/smooth」時(shí)一定會(huì)呼叫「moveServo_cb」。這個(gè)回調(diào)函式會(huì)從-90到+90度之間每10度產(chǎn)生1個(gè)數(shù)值，追加到角度數(shù)組當(dāng)中?！竤in()」會(huì)取這個(gè)角度，數(shù)值從-1到+1慢慢增加。該數(shù)值加1之后，范圍就會(huì)變成0到+2，再除以2之后， 0到+1的曲線數(shù)值數(shù)組就完成了。然后再看看m數(shù)組當(dāng)中，每當(dāng)發(fā)布訊息時(shí)，就會(huì)稍微前進(jìn)一點(diǎn)，范圍在r之內(nèi)，直到1*r或是全范圍為止。
#!/usr/bin/env python
from time import sleep
import numpy as np
import rospy
pos = currentPosition + mi*r
print “pos: “, pos
pub.publish(pos)
sleep(0.05)
currentPosition = targetPosition
print “pos-e: “, currentPosition
pub.publish(currentPosition)
def listener():
if __name__ == ‘__main__’:
listener()
想要測試伺服機(jī)順暢的動(dòng)作，就要啟動(dòng)Python腳本，將訊息發(fā)布到「/head/tilt/smooth」，這樣一來即可檢視順暢的動(dòng)作。
$ ./servoencoder.py
$ rostopic pub -1 /head/tilt/smoothstd_msgs/Float32 1
$ rostopic pub -1 /head/tilt/smoothstd_msgs/Float32 0
ROS當(dāng)中的名稱也可以重新測繪。只要將「/head/tilt/smooth」重新測繪為「/head/tilt」，程序就能向伺服機(jī)發(fā)出命令，而不會(huì)意識到正弦曲線的數(shù)值在變化。






Ecosys Novapure Resin Tank C3-0YN-C6-K2-H2 new
 
 
Ecosys Novapure S447D Scrubber Tank C5-YY0-B5-D5-NN new
 
 
AMAT IECP Main AC Cabinet 0190-01661 untested
 
 
Takatori ATRM-2100 Delaminator Tape Remover Working
 
 
 
Edwards iXH610 Dry Vacuum Pump AC1102121100 as-is
 
 
 
ATMI Ecosys CDO 862 Abatement Scrubber System untested ...
 
 
TEL Fujikin Water Vapor Gen. Controller WVG-S2-Y-IB7 Ne...
 
 
TEL Fujikin Water Vapor Generator WVG-S2-Y-IB4 New
 
 
TEL Fujikin Water Vapor Generator WVG-S2-Y-IB7 New
 
 
ENI Spectrum B-5002 5kW RF Generator 0190-15320 Working
 
 
Nor-Cal Intellisys TPV-800 Pendulum Valve 0190-25400
 
 
Materials Research Eclipse Star Chamber Assy. A119124
 
 
MRC Eclipse Star Chamber Assy. A120946
 
 
CTI-Cryogenics On-Board 8 Cryopump 8116232G001 new 3620...
 
 
Daikin ACRO Brine Chilling Unit UBRP4CTH-IN untested 3D...
 
 
SemVision X Y Axis Table Stage Working
 
 
Hitachi S-9300 SEM Transfer Robot working
 
 
 
KLA-Tencor AIT 2 Measurement Head 0021726-001 working
 
 
MRC Eclipse RMX Magnet Assy. A119182 RD working
 
 
MRC Eclipse RMA Magnet Assy. A126387 working
 
 
Brooks Genus Left Vacuum Load Lock 001-9200-54 working
 
 
TEL ACT 12 WEE X-Theta Drive Assy 200mm working
 
 
Pfeiffer Vacuum OnTool Dry Pump PKT16919 new
 
 
 
Pfeiffer WKP 6000 AM Dry Vacuum Pump Blower New
 
 
 
Applied Materials AMAT Quantum BeamLine Flight Tube 901...
 
 
KLA Tencor SP1 Power Module 0000452-004 Rev. AB Used Wo...
 
 
Lam Research 852-014681-583 RF Cart 851-014680-583 no G...
 
 
AMAT Applied Materials 0290-76088 P5000 Remote AC Box R...
 
 
SVG 90S Fluid Temperature Controller Noah Precision Bat...
 
 
Applied Materials STD PVD Degas Chamber Quartz Viewpoin...
 
 
Quartz International 03MRK001 Quartz Element Tube new
 
 
ATS M-Pak Temp. Control System Chiller MP40B-GL as-is 4...
 
 
Thermo Electron Neslab DI Max DEI Water to Water Cooler
 
 
Edwards Vacuum Turbopump STP-XH2603P Used Working
 
 
 
Edwards Vacuum Pump IQDP-40 Rebuilt working
 
 
ASML Stepper A1208 Digital Focus PCB 859-0743-018
 
 
Semitool Wet Solvent Stripper WST308A(1CC)BT
 
 
 
TEL Eclipse Star Shield Kit 42755-0500 new
 
 
Comdel CX-600S Ultra Stable 13.56MHz RF Generator CX-60...
 
 
Neslab CFT-300 Refrigerated Recirculator Chiller 396105...
 
 
Shimadzu TMP Vacuum Turbopump TMP-3203LMC-K1
 
 
Shimadzu Vacuum Turbopump TMP-3203LMC-K1 VG300