def __init__(self):
"JoyNode constructor"
# estop control
self.estop = 13 # emergency stop
# tele-operation controls
self.steer = 0 # steering axis (wheel)
self.drive = 4 # shift to Drive (^)
self.reverse = 6 # shift to Reverse (v)
self.park = 7 # shift to Park
self.throttle = 18 # throttle axis (X)
self.throttle_start = True
self.brake = 19 # brake axis (square)
self.brake_start = True
self.counter = 0
self.throttleQueue = Queue.Queue()
self.cruiseSwitch = 1 # Press down Joystick
self.cruise = False
# initialize ROS topics
rospy.init_node('hks_teleop')
self.pilot = pilot_cmd.PilotCommand()
self.reconf_server = ReconfigureServer(Config, self.reconfigure)
self.joy = rospy.Subscriber('joy', Joy, self.joyCallback)
def __init__(self):
"JoyNode constructor"
# estop controls
self.run = 3 # start autonomous run
self.suspend = 12 # suspend autonomous running
self.estop = 13 # emergency stop
# tele-operation controls
self.steer = 0 # steering axis (wheel)
self.drive = 4 # shift to Drive (^)
self.reverse = 6 # shift to Reverse (v)
self.park = 7 # shift to Park
self.throttle = 18 # throttle axis (X)
self.throttle_start = True
self.brake = 19 # brake axis (square)
self.brake_start = True
self.lowincrease_max = 11 # Increase max .5 (R1)
self.highincrease_max = 9 # Increase max 2 (R2)
self.lowdecrease_max = 10 # Decrease max .5 (L1)
self.highdecrease_max = 8 # Decrease max 2 (L2)
# initialize ROS topics
rospy.init_node('josh_teleop')
self.pilot = pilot_cmd.PilotCommand()
self.reconf_server = ReconfigureServer(JoyConfig, self.reconfigure)
self.joy = rospy.Subscriber('joy', Joy, self.joyCallback)
def __init__(self):
"JoyNode constructor"
# estop controls
self.run = 3 # start autonomous run
self.suspend = 12 # suspend autonomous running
self.estop = 13 # emergency stop
# tele-operation controls
self.steer = 0 # steering axis (wheel)
self.drive = 4 # shift to Drive (^)
self.reverse = 6 # shift to Reverse (v)
self.park = 7 # shift to Park
self.throttle = 18 # throttle axis (X)
self.throttle_start = True
self.brake = 19 # brake axis (square)
self.brake_start = True
self.steeringQueue = Queue.Queue()
self.counter = 0
# initialize ROS topics
rospy.init_node('jaime_teleop')
self.pilot = pilot_cmd.PilotCommand()
self.steering = SteeringState()
self.reconf_server = ReconfigureServer(JoyConfig, self.reconfigure)
self.joy = rospy.Subscriber('joy', Joy, self.joyCallback)
def __init__(self, name=""):
"""
Constructor for the DelegationManager
:param name: name of this instance of the DelegationManager,
should be unique
:type name: str
"""
self._name = name
self._param_prefix = self._name + DelegationManager.param_suffix
self._delegations = []
self._auction_id = 0
self._max_tasks = 10 # should be changed by for dynamic_reconfigure
self._tasks = []
self._current_delegation_depth = 0
self._cost_computable = False
self._cost_function_evaluator = None
self._registered_agent_name = ""
self._manager_client_id = -1 # ID of the client of the manager
self._active_client_ids = [] # list of client IDs
# not started at construction
self._get_depth_service = None
self._init_topics()
self._init_services()
if not DelegationManager.dynamic_reconfigure_server: # only one server per node
DelegationManager.dynamic_reconfigure_server = ReconfigureServer(
DelegationManagerConfig,
self._dynamic_reconfigure_callback,
namespace="/" + self._param_prefix)
else:
self._config_subscriber = rospy.Subscriber(
DelegationManager.dynamic_reconfigure_server.ns +
'parameter_updates', ConfigMsg,
self._dynamic_reconfigure_listener_callback)
self._loginfo("Initiation of DelegationManager completed")
def __init__(self):
"""
Initialises the conductor, but doesn't try to do anything yet.
:raises: :exc:`.ConductorFailureException` if construction went awry.
"""
##################################
# Local Information
##################################
self._local_gateway = LocalGateway(
) # can throw rocon_python_comms.NotFoundException.
self._concert_name = self._local_gateway.name
self._concert_ip = self._local_gateway.ip
##################################
# Ros
##################################
self.publishers = self._setup_publishers(
) # can raise ConductorFailureException
rospy.on_shutdown(self._shutdown)
self._param = setup_ros_parameters()
self._reconfig_server = ReconfigureServer(
paramsConfig, self._callback_dynamic_reconfigure)
##################################
# Variables
##################################
self._watcher_period = 1.0 # Period for the watcher thread (i.e. update rate)
self._concert_clients = \
concert_clients.ConcertClients(
self._local_gateway,
self._param,
self.publish_concert_clients,
self.publish_conductor_graph
)
self.publish_concert_clients(
) # Publish an empty list, to latch it and start
def __init__(self, topic):
QtGui.QMainWindow.__init__(self)
self.topic = topic
self.reconf_server = ReconfigureServer(Config, self.reconfigure)
self.resize(350, 250)
self.setIconSize(QtCore.QSize(32, 32))
self.setWindowTitle('Vehicle Tele-Operation')
qexit = QtGui.QAction(QtGui.QIcon(pkg_icon('exit')), 'Exit', self)
qexit.setShortcut('Ctrl+Q')
self.connect(qexit, QtCore.SIGNAL('triggered()'),
QtCore.SLOT('close()'))
center_wheel = QtGui.QAction(QtGui.QIcon(pkg_icon('go-first')),
'center wheel', self)
center_wheel.setShortcut(QtCore.Qt.Key_Home)
self.connect(center_wheel, QtCore.SIGNAL('triggered()'),
self.center_wheel)
go_left = QtGui.QAction(QtGui.QIcon(pkg_icon('go-previous')),
'steer left', self)
go_left.setShortcut(QtCore.Qt.Key_Left)
self.connect(go_left, QtCore.SIGNAL('triggered()'), self.go_left)
go_left_more = QtGui.QAction('steer left more', self)
go_left_more.setShortcut(QtGui.QKeySequence.SelectPreviousWord)
self.connect(go_left_more, QtCore.SIGNAL('triggered()'),
self.go_left_more)
go_left_less = QtGui.QAction('steer left less', self)
go_left_less.setShortcut(QtGui.QKeySequence.MoveToPreviousWord)
self.connect(go_left_less, QtCore.SIGNAL('triggered()'),
self.go_left_less)
slow_down = QtGui.QAction(QtGui.QIcon(pkg_icon('go-down')),
'slow down', self)
slow_down.setShortcut(QtCore.Qt.Key_Down)
self.connect(slow_down, QtCore.SIGNAL('triggered()'), self.slow_down)
speed_up = QtGui.QAction(QtGui.QIcon(pkg_icon('go-up')), 'speed up',
self)
speed_up.setShortcut(QtCore.Qt.Key_Up)
self.connect(speed_up, QtCore.SIGNAL('triggered()'), self.speed_up)
go_right = QtGui.QAction(QtGui.QIcon(pkg_icon('go-next')),
'steer right', self)
go_right.setShortcut(QtCore.Qt.Key_Right)
self.connect(go_right, QtCore.SIGNAL('triggered()'), self.go_right)
go_right_less = QtGui.QAction('steer right less', self)
go_right_less.setShortcut(QtGui.QKeySequence.MoveToNextWord)
self.connect(go_right_less, QtCore.SIGNAL('triggered()'),
self.go_right_less)
go_right_more = QtGui.QAction('steer right more', self)
go_right_more.setShortcut(QtGui.QKeySequence.SelectNextWord)
self.connect(go_right_more, QtCore.SIGNAL('triggered()'),
self.go_right_more)
stop_car = QtGui.QAction(QtGui.QIcon(pkg_icon('go-bottom')),
'stop car', self)
stop_car.setShortcut(QtCore.Qt.Key_End)
self.connect(stop_car, QtCore.SIGNAL('triggered()'), self.stop_car)
menubar = self.menuBar()
mfile = menubar.addMenu('&File')
mfile.addAction(qexit)
speed = menubar.addMenu('&Speed')
speed.addAction(slow_down)
speed.addAction(stop_car)
speed.addAction(speed_up)
wheel = menubar.addMenu('&Wheel')
wheel.addAction(center_wheel)
wheel.addAction(go_left)
wheel.addAction(go_left_less)
wheel.addAction(go_left_more)
wheel.addAction(go_right)
wheel.addAction(go_right_less)
wheel.addAction(go_right_more)
toolbar = self.addToolBar('Controls')
toolbar.addAction(qexit)
toolbar.addAction(center_wheel)
toolbar.addAction(go_left)
toolbar.addAction(slow_down)
toolbar.addAction(stop_car)
toolbar.addAction(speed_up)
toolbar.addAction(go_right)
self.ack_cmd = AckermannDriveStamped()
self.ack_cmd.header.stamp = rospy.Time.now()
self.drive = AckermannDrive()
self.ack_cmd.drive = self.drive
self.topic.publish(self.ack_cmd)
self.updateStatusBar()