WIP #12: Started defining publishers for state machine

vanderbiltrobotics · Apr 28, 2019 · 650cc39 · 650cc39
1 parent 95e8b20
commit 650cc39
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/robot_high_level_control/scripts/state_machine.py b/robot_high_level_control/scripts/state_machine.py
@@ -1,3 +1,5 @@
+import rospy
+from geometry_msgs.msg import Twist
 
 class HighLevelController:
     def __init__(self, starting_state = "idle"):
@@ -9,7 +11,9 @@ def __init__(self, starting_state = "idle"):
         self.p2 = [3,3]
         self.p3 = [0,0]
 
-        self.publishers = {}
+        self.publishers = {
+            "drive_cmd" : rospy.Publisher('drive_cmd', Twist, queue_size=1)
+        }
         self.state_vars = {}
 
     def process_state_changes(self):