Dancing Robot

Lets dance with our robots

• 1. 로봇팔.댄스.ipynb

• Running the cell code

  Ctrl + Enter

• Randomly moving robot arm dance

!pm2 start 13 15 > /dev/null
!pm2 stop 14 > /dev/null
!pm2 status

import rospy
import time
import random
from pygame import mixer
from std_msgs.msg import Float32MultiArray

def dance():
    cnt = 0

    mixer.init(48000, 16, 2, 2048)
    music = mixer.Sound('next_level.ogg')
    music.set_volume(0.02)
    music.play()
    time.sleep(7)

    dofbot_pub = rospy.Publisher('point_gripper', Float32MultiArray, queue_size=10)
    rospy.init_node('dundundance', anonymous=True)

    while not rospy.is_shutdown():
        msg = Float32MultiArray()
        msg.data.append(random.randrange(-5, 5, 1))
        msg.data.append(random.randrange(-10, 10, 1))
        msg.data.append(random.randrange(25, 40, 1))
        msg.data.append(random.randrange(50, 180, 1))
        #rospy.loginfo(msg)
        dofbot_pub.publish(msg)
        rospy.sleep(2.0)
        cnt += 1
        print(cnt)

        if cnt == 75:
            break

    music.stop()
    rospy.signal_shutdown("killed")

try:
    dance()
except rospy.ROSInterruptException:
    pass