def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.output_topic = self.getArg("output_topic", "output")
self.org_topic = self.getArg("joy_original_topic", "/joy_org")
self.joy_mux_srv_name = self.getArg("joy_mux", "mux")
self.joy_mux_select_srv = rospy.ServiceProxy(
self.joy_mux_srv_name + "/select", MuxSelect)
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.command_states = {
"handle":
HandleCommandState("handle", Float64, Float32,
"drive/controller/goal_handle_angle"),
"accel":
VehicleCommandState("accel", Float64, Float32,
"drive/controller/step"),
"brake":
VehicleCommandState("brake", Float64, None,
None), # do not support brake synchronize
"neck_y":
VehicleCommandState("neck_y", Float64, Float32,
"drive/controller/neck_y_angle"),
"neck_p":
VehicleCommandState("neck_p", Float64, Float32,
"drive/controller/neck_p_angle")
}
self.synchronizeAllCommand()
self.execute_flag = False
print >> sys.stderr, "Joystick initialization is finished"
self.initialize_service = rospy.Service('drive/operation/initialize',
Empty,
self.initializeServiceCallback)
self.synchronize_service = rospy.Service(
'drive/operation/synchronize', StringRequest,
self.synchronizeServiceCallback)
self.subscriber = rospy.Subscriber('drive/execute_flag', Bool,
self.executeFlagCallback)
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.control_view = self.getArg('control_view', True)
if not self.control_view:
rospy.loginfo("Not using rviz view control")
RVizViewControllerManagerSingleton.camera_pub.unregister()
RVizViewControllerManagerSingleton.camera_sub.unregister()
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.control_view = self.getArg('control_view', True)
if not self.control_view:
rospy.loginfo("Not using rviz view control")
RVizViewControllerManagerSingleton.camera_pub.unregister()
RVizViewControllerManagerSingleton.camera_sub.unregister()
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.cmd_vel = Twist()
self.publish_cmd_vel = self.getArg('publish_cmd_vel', True)
self.max_vel = self.getArg('max_vel', 0.2)
self.max_omega = self.getArg('max_omega', 0.17) # 10[deg]
self.orthogonal_axis_mode = self.getArg('orthogonal_axis_mode', True)
self.prev_time = rospy.Time.now()
if self.publish_cmd_vel:
self.twist_pub = rospy.Publisher(self.getArg('cmd_vel', 'cmd_vel'), Twist, queue_size = 1)
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.pub = rospy.Publisher("/overlay_text", OverlayText)
self.usage = self.getArg("text")
self.width = self.getArg("width", 400)
self.height = self.getArg("width", 600)
self.left = self.getArg("left", 10)
self.top = self.getArg("top", 10)
self.line_width = self.getArg("line_width", 2)
self.text_size = self.getArg("text_size", 20)
self.font = self.getArg("font", "DejaVu Sans Mono")
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.cmd_vel = Twist()
self.publish_cmd_vel = self.getArg('publish_cmd_vel', True)
self.max_vel = self.getArg('max_vel', 0.2)
self.max_omega = self.getArg('max_omega', 0.17) # 10[deg]
self.orthogonal_axis_mode = self.getArg('orthogonal_axis_mode', True)
self.prev_time = rospy.Time.now()
if self.publish_cmd_vel:
self.twist_pub = rospy.Publisher(self.getArg('cmd_vel', 'cmd_vel'),
Twist,
queue_size=1)
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.command_states = {
"handle": HandleCommandState("handle", Float64, Float32, "drive/controller/goal_handle_angle"),
"accel": VehicleCommandState("accel", Float64, Float32, "drive/controller/step"),
"brake": VehicleCommandState("brake", Float64, None, None), # do not support brake synchronize
"neck_y": VehicleCommandState("neck_y", Float64, Float32, "drive/controller/neck_y_angle"),
"neck_p": VehicleCommandState("neck_p", Float64, Float32, "drive/controller/neck_p_angle")
}
self.synchronizeAllCommand()
self.execute_flag = False
print >> sys.stderr, "Joystick initialization is finished"
self.initialize_service = rospy.Service('drive/operation/initialize', Empty, self.initializeServiceCallback)
self.synchronize_service = rospy.Service('drive/operation/synchronize', StringRequest, self.synchronizeServiceCallback)
self.subscriber = rospy.Subscriber('drive/execute_flag', Bool, self.executeFlagCallback)
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.menu_pub = rospy.Publisher("/overlay_menu", OverlayMenu)
self.menus = [
["Append Pre-defined Polygon", self.appendPreDefinedPolygon],
["Register Current GridMap", self.registerCurrentGridMap],
["Clear Environment", self.clearEnvironment],
["Exit", self.exit]]
self.clear_maps_srv = rospy.ServiceProxy(
self.getArg("clear_maps", "/env_server/clear_maps"), Empty)
self.register_current_map_srv = rospy.ServiceProxy(
self.getArg("register_current_map", "/env_server/register_to_hisotry"), Empty)
self.register_completed_map_srv = rospy.ServiceProxy(
self.getArg("register_completed_map", "/env_server/register_completion_to_hisotry"), Empty)
self.current_index = 0
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.menu_pub = rospy.Publisher("/overlay_menu", OverlayMenu)
self.menus = [
["Append Pre-defined Polygon", self.appendPreDefinedPolygon],
["Register Current GridMap", self.registerCurrentGridMap],
["Clear Environment", self.clearEnvironment],
["Exit", self.exit],
]
self.clear_maps_srv = rospy.ServiceProxy(self.getArg("clear_maps", "/env_server/clear_maps"), Empty)
self.register_current_map_srv = rospy.ServiceProxy(
self.getArg("register_current_map", "/env_server/register_to_hisotry"), Empty
)
self.register_completed_map_srv = rospy.ServiceProxy(
self.getArg("register_completed_map", "/env_server/register_completion_to_hisotry"), Empty
)
self.current_index = 0
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.output_topic = self.getArg("output_topic", "output")
self.org_topic = self.getArg("joy_original_topic", "/joy_org")
self.joy_mux_srv_name = self.getArg("joy_mux", "mux")
self.joy_mux_select_srv = rospy.ServiceProxy(self.joy_mux_srv_name + "/select" , MuxSelect)
def __init__(self, name, args): JSKJoyPlugin.__init__(self, name, args)
def __init__(self):
JSKJoyPlugin.__init__(self, 'VerbosePlugin')
def __init__(self, name, args): JSKJoyPlugin.__init__(self, name, args)
def __init__(self, name):
JSKJoyPlugin.__init__(self, name)
self.camera_pub = rospy.Publisher('/rviz/camera_placement', CameraPlacement)
self.pre_view = CameraView()
self.follow_view = rospy.get_param('~follow_view', False)
self.counter = 0
def __init__(self, name, args):
JSKJoyPlugin.__init__(self, name, args)
self.output_topic = self.getArg("output_topic", "output")
