A python file of rikirobot realizes the car following function and saves information in real time

import paramiko
import time
from threading import Thread
#这是跟随人模式
def ssh1():
sum = 1
sshClient = paramiko.SSHClient()
sshClient.set_missing_host_key_policy(paramiko.AutoAddPolicy())
sshClient.connect(hostname = “192.168.123.213”, port = 22, username = “firefly”, password = “firefly”)

shell = sshClient.invoke_shell()
shell.sendall("roslaunch rikirobot bringup.launch\n")
# shell.sendall("ls\n")
shell.sendall("exit\n")

while True:
    # shell.sendall("^c\n")
    data = shell.recv(2048).decode()
    result = str(data)
    with open('result_people.txt','a') as file:
        file.write("{}\n".format(result))
    time.sleep(0.4)
    sum = sum + 1
    if (sum==30):
        break
    # if  0xff == ord('q'):
        # break
    print(data, end = "")
# sshClient.close()

def ssh2():
sum2 = 1
sshClient2 = paramiko.SSHClient()
sshClient2.set_missing_host_key_policy(paramiko.AutoAddPolicy())
sshClient2.connect(hostname=“192.168.123.213”, port=22, username=“firefly”, password=“firefly”)

shell2 = sshClient2.invoke_shell()
shell2.sendall("roslaunch riki_follower follower.launch\n")
# shell2.sendall("roslaunch openni2_launch openni2.launch\n")
shell2.sendall("exit\n")
while True:
    data2 = shell2.recv(2048).decode()
    result2 = str(data2)
    with open('result_people2.txt','a') as file2:
        file2.write("{}\n".format(result2))
    time.sleep(0.3)
    sum2 = sum2+1
    if sum2 == 30:
        print("quit now")
        break
    # print(data2, end = "")
    print(data2, end="")
# sshClient2.close()

if name == ‘main’:
t1 = Thread(target=ssh1())
t2 = Thread(target=ssh2())
t1.start()
t2.start()
print(“结束”)