sleep.py

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#!/usr/bin/env python

################################################################

import rospy
from std_msgs.msg import String
from sensor_msgs.msg import Image,CompressedImage,Range,Imu
from geometry_msgs.msg import Twist,Pose

import miro_msgs
from miro_msgs.msg import platform_config,platform_sensors,platform_state,platform_mics,platform_control,core_state,core_control,core_config,bridge_config,bridge_stream

import opencv_apps
from opencv_apps.msg import CircleArrayStamped

import math
import numpy
import time
import sys
from miro_constants import miro

from datetime import datetime

## \file sleep.py 
## \brief The node sleep.py implements the action corresponding to the command "Sleep"
## @n Miro closes its eyes, lights up in acquamarine, lowers its tail and inclines and moves down its head.

## \brief The class SleepMode implements the sleeping behavior
class SleepMode():

    def __init__(self):

        ## Node rate
        self.rate = rospy.get_param('rate',200)

        ## Publisher to the topic /miro_sleep a message of type platform_control which correspont to the sleep action
        self.pub_platform_control = rospy.Publisher('/miro_sleep',platform_control,queue_size=0)
    
    ## Function that sets the parameters of the structure platform_control corresponding to action "Sleep"
    def miro_sleep(self):

        r = rospy.Rate(self.rate)
        q = platform_control()
        
        while True:
            try:
                q.eyelid_closure = 1.0
                q.lights_raw = [0,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255] #white color
                q.tail = -1.0
                q.ear_rotate = [0.0,0.0]
                q.body_config = [0.0,0.8,0.3,0.02]
                q.body_config_speed = [0.0,-1.0,-1.0,-1.0]
                self.pub_platform_control.publish(q)
            except KeyboardInterrupt:

                self.pub_platform_control.publish(q)                
                break
            r.sleep()

       

if __name__== '__main__':
    rospy.init_node('sleep', disable_signals=True)
    sleep = SleepMode()
    sleep.miro_sleep()