def callback(self, inmsg):
global extract_warn
outmsg = Joy()
outmsg.buttons = remap(inmsg.buttons, self.button_mapping)
outmsg.axes = remap(inmsg.axes, self.axis_mapping)
self.pub.publish(outmsg)
if not self.warned and extract_warn:
self.warned = True
rospy.logwarn("Out of range remapping. Setting to zero. Joystick has %i buttons and %i axes.")%(len(inmsg.buttons), len(inmsg.axes))
def callback(self, inmsg):
global extract_warn
outmsg = Joy()
outmsg.buttons = remap(inmsg.buttons, self.button_mapping)
outmsg.axes = remap(inmsg.axes, self.axis_mapping)
self.pub.publish(outmsg)
if not self.warned and extract_warn:
self.warned = True
rospy.logwarn(
"Out of range remapping. Setting to zero. Joystick has %i buttons and %i axes."
) % (len(inmsg.buttons), len(inmsg.axes))
def run(self):
"""Loop that obtains the latest nunchuk state, publishes the joystick data, and sleeps.
The Joy.msg message types calls for just two fields: float32[] axes, and int32[] buttons.
"""
self.threadName = "nunchuk Joy topic Publisher"
try:
while not rospy.is_shutdown():
(canonicalAccel, scaledAcc,
canonicalAngleRate) = self.obtainWiimoteData()
if not self.wiistate.nunchukPresent:
continue
if self.pub is None:
self.pub = rospy.Publisher('/wiimote/nunchuk', Joy)
rospy.loginfo(
"Wiimote Nunchuk joystick publisher starting (topic nunchuk)."
)
(joyx, joyy) = self.wiistate.nunchukStick
msg = Joy( # the Joy msg does not have a header :-( header=None,
axes=[
joyx, joyy, scaledAcc[X], scaledAcc[Y], scaledAcc[Z]
],
buttons=None)
theButtons = [False, False]
theButtons[
State.MSG_BTN_Z] = self.wiistate.nunchukButtons[BTN_Z]
theButtons[
State.MSG_BTN_C] = self.wiistate.nunchukButtons[BTN_C]
msg.buttons = theButtons
measureTime = self.wiistate.time
timeSecs = int(measureTime)
timeNSecs = int(abs(timeSecs - measureTime) * 10**9)
# the Joy msg does not have a header :-(
# msg.header.stamp.secs = timeSecs
# msg.header.stamp.nsecs = timeNSecs
self.pub.publish(msg)
rospy.logdebug("nunchuk state:")
rospy.logdebug(" nunchuk buttons: " + str(theButtons) +
"\n Nuchuck axes: " + str(msg.axes) + "\n")
rospy.sleep(self.sleepDuration)
except rospy.ROSInterruptException:
rospy.loginfo("Shutdown request. Shutting down Nun sender.")
exit(0)
def run(self):
"""Loop that obtains the latest nunchuk state, publishes the joystick data, and sleeps.
The Joy.msg message types calls for just two fields: float32[] axes, and int32[] buttons.
"""
self.threadName = "nunchuk Joy topic Publisher"
try:
while not rospy.is_shutdown():
(canonicalAccel, scaledAcc, canonicalAngleRate) = self.obtainWiimoteData()
if not self.wiistate.nunchukPresent:
continue
if self.pub is None:
self.pub = rospy.Publisher('/wiimote/nunchuk', Joy)
rospy.loginfo("Wiimote Nunchuk joystick publisher starting (topic nunchuk).")
(joyx, joyy) = self.wiistate.nunchukStick
msg = Joy(# the Joy msg does not have a header :-( header=None,
axes=[joyx, joyy,
scaledAcc[X], scaledAcc[Y], scaledAcc[Z]],
buttons=None)
theButtons = [False,False]
theButtons[State.MSG_BTN_Z] = self.wiistate.nunchukButtons[BTN_Z]
theButtons[State.MSG_BTN_C] = self.wiistate.nunchukButtons[BTN_C]
msg.buttons = theButtons
measureTime = self.wiistate.time
timeSecs = int(measureTime)
timeNSecs = int(abs(timeSecs - measureTime) * 10**9)
# the Joy msg does not have a header :-(
# msg.header.stamp.secs = timeSecs
# msg.header.stamp.nsecs = timeNSecs
self.pub.publish(msg)
rospy.logdebug("nunchuk state:")
rospy.logdebug(" nunchuk buttons: " + str(theButtons) + "\n Nuchuck axes: " + str(msg.axes) + "\n")
rospy.sleep(self.sleepDuration)
except rospy.ROSInterruptException:
rospy.loginfo("Shutdown request. Shutting down Nun sender.")
exit(0)
def main(screen):
screen.nodelay(1) # make getch() a non-blocking call
pub = rospy.Publisher(PUBLISH_TOPIC, Joy)
rospy.init_node(NODE_NAME)
rate = rospy.Rate(LOOP_FREQ)
while not rospy.is_shutdown():
keypress = screen.getch()
if keypress > -1:
keyval = chr(keypress)
if keyval == "q": # quit
rospy.signal_shutdown("User requested shutdown.")
else:
button = int(keyval)
if button < 10:
msg = Joy()
msg.buttons = [0 for x in range(10)]
msg.buttons[button] = 1
pub.publish(msg)
rate.sleep()
def main(screen):
screen.nodelay(1) # make getch() a non-blocking call
pub = rospy.Publisher(PUBLISH_TOPIC, Joy)
rospy.init_node(NODE_NAME)
rate = rospy.Rate(LOOP_FREQ)
while not rospy.is_shutdown():
keypress = screen.getch()
if keypress > -1:
keyval = chr(keypress)
if keyval == "q": # quit
rospy.signal_shutdown("User requested shutdown.")
else:
button = int(keyval)
if button < 10:
msg = Joy()
msg.buttons = [0 for x in range(10)]
msg.buttons[button] = 1
pub.publish(msg)
rate.sleep()
def on_new_joy(msg,publisher):
out = Joy()
out.axes= msg.axes;
out.buttons = msg.buttons;
publisher[0].publish(out)
