gbb_miro.py File Reference

The node gbb_miro.py subscribes to the linear and angular velocity mapped in the imu_data_map node and publish a platform_control message
A platform_control message contains linear and angular velocities, the lightening pattern of miro's body and other tipes of messages
. More...

Go to the source code of this file.

Classes
class	gbb_miro.GestureBased
	The class GestureBased implements the Gesture based behavior. More...

Variables
tuple	gbb_miro.gesture_based = GestureBased()

Detailed Description

The node gbb_miro.py subscribes to the linear and angular velocity mapped in the imu_data_map node and publish a platform_control message
A platform_control message contains linear and angular velocities, the lightening pattern of miro's body and other tipes of messages
.

More in details:
Subscribe to the topic /imu_mapping
Read from that topic the value from the smartwatch correctly mapped into miro body velocity
Publish on /gbb a platform_control msg containing miro body velocity and a lightening pattern based on smartwatch commands
For example: if the command of the smartwatch is a rotation towards right miro will turn right and the right part of its body will lit

Definition in file gbb_miro.py.