Initial commit

sensors/newton-m2/scripts/odom_repub.py

@@ -0,0 +1,39 @@
+import rospy
+from pynput import keyboard
+from threading import Thread
+from nav_msgs.msg import Odometry
+
+class Rebpublic:
+    def __init__(self):
+        self.is_pub = True
+        self.lidar_odom1_pub = rospy.Publisher("/m2/gpsOdom1", Odometry, queue_size=1)
+    
+    def on_press(self, key):
+        try:
+            if key.char == "q":
+                self.is_pub = not self.is_pub
+            print(self.is_pub)
+        except:
+            print("error")
+    
+    def odom_callback(self, data):
+        if self.is_pub:
+            self.lidar_odom1_pub.publish(data)
+            print("publish", rospy.get_time())
+        else:
+            print("not publish", rospy.get_time())
+
+    def key_listen(self):
+        with keyboard.Listener(on_press=self.on_press) as listener:
+            listener.join()
+
+    def listen(self):
+        rospy.Subscriber("/m2/gpsOdom", Odometry, self.odom_callback, queue_size=1)
+        rospy.spin()
+
+if __name__ == "__main__":
+    rospy.init_node("republic", anonymous=True)
+    rebpublic = Rebpublic()
+    thread_key_listern = Thread(target=rebpublic.key_listen, args=())
+    thread_key_listern.start()
+    rebpublic.listen()