signals.py 文件源码

def __init__(self):
        self.recording = False
        self.names = ('sair', 'sail', 'fai', 'faii')
        self.data = {n: [] for n in self.names}
        # TODO hardcoded for left arm
        # self.acc_sub = rospy.Subscriber(
        #     '/robot/accelerometer/left_accelerometer/state',
        #     Imu,
        #     self.handle_acc)

        self.sensor_sub = rospy.Subscriber(
            '/sensor_values',
            Int32MultiArray,
            self.handle_sensor)

        # self.kb_sub = rospy.Subscriber('/keyboard/keyup',
        #                                Key,
        #                                self.keyboard_cb, queue_size=10)

        # Visualising the below pulished signals in rqt_plot is recommended
        self.sai_pub = rospy.Publisher(
            '/finger_sensor/sai',
            FingerSAI,
            queue_size=5)

        self.fai_pub = rospy.Publisher(
            '/finger_sensor/fai',
            FingerFAI,
            queue_size=5)

        self.faii_pub = rospy.Publisher(
            '/finger_sensor/faii',
            Float64,
            queue_size=5)

        self.sensor_values = []
        self.sensor_values = deque(maxlen=80)

        self.acc_t = deque(maxlen=400)
        self.acc = deque(maxlen=400)

        # 0.66pi rad/sample (cutoff frequency over nyquist frequency
        # (ie, half the sampling frequency)). For the wrist, 33 Hz /
        # (100 Hz/ 2). TODO Double check arguments
        self.b1, self.a1 = signal.butter(1, 0.66, 'high', analog=False)
        # 0.5p rad/sample. For the tactile sensor, 5 Hz / (20 Hz / 2).
        self.b, self.a = signal.butter(1, 0.5, 'high', analog=False)