roboclaw_pyscript.py 文件源码

def check_vitals(self, stat):
        try:
            status = roboclaw.ReadError(self.address)[1]
        except OSError as e:
            rospy.logwarn("Diagnostics OSError: %d", e.errno)
            rospy.logdebug(e)
            return
        state, message = self.ERRORS[status]
        stat.summary(state, message)
        try:
            stat.add("Main Batt V:", float(roboclaw.ReadMainBatteryVoltage(self.address)[1] / 10))
            stat.add("Logic Batt V:", float(roboclaw.ReadLogicBatteryVoltage(self.address)[1] / 10))
            stat.add("Temp1 C:", float(roboclaw.ReadTemp(self.address)[1] / 10))
            stat.add("Temp2 C:", float(roboclaw.ReadTemp2(self.address)[1] / 10))
        except OSError as e:
            rospy.logwarn("Diagnostics OSError: %d", e.errno)
            rospy.logdebug(e)
        return stat

    # TODO: need clean shutdown so motors stop even if new msgs are arriving