def publishControl(self): # relevant tutorial: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick # button mapping: Joystick (Logitech Gamepad F710) has 8 axes (X, Y, Z, Rx, Ry, Rz, Hat0X, Hat0Y) # & 11 buttons (BtnX, BtnY, BtnTL, BtnTR, BtnTR2, BtnSelect, BtnThumbL, BtnThumbR, ?, ?, ?). # pressure/depth control - right stick up/down (+1.0 up to -1.0 down) # yaw control - right stick left/right (-1.0 right to +1.0 left) # speed control - left stick up/down (+1.0 up to -1.0 down) # frequency control - left stick right/left (-1.0 right to +1.0 left) global bcu_toggle_prev global valve_toggle_prev cmd_out = joystick_in() cmd_out.header.stamp = self.joy.header.stamp cmd_out.freq_ctrl = -1*int(self.joy.axes[0] * 127) cmd_out.speed_ctrl = int(self.joy.axes[1] * 127) cmd_out.yaw_ctrl = -1*int(self.joy.axes[3] * 127) cmd_out.depth_ctrl = int(self.joy.axes[4] * 127) cmd_out.bcu_toggle = bool(self.joy.buttons[5]) and not bcu_toggle_prev # send on rising edge only cmd_out.valve_toggle = bool(self.joy.buttons[4]) and not valve_toggle_prev cmd_out.bcu_forwards = bool(self.joy.buttons[3]) cmd_out.bcu_backwards = bool(self.joy.buttons[2]) self.pub_toSerial.publish(cmd_out) bcu_toggle_prev = bool(self.joy.buttons[5]) valve_toggle_prev = bool(self.joy.buttons[4])
def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " %(self.node_name))
self.joy = None
self.pub_toSerial = rospy.Publisher("to_serial", joystick_in, queue_size = 1)
cmd_init = joystick_in(rospy.Time.now(), 0,0,0,0,0,0,0,0)
self.pub_toSerial.publish(cmd_init)
# Subscriptions
self.sub_joy = rospy.Subscriber("joy", Joy, self.cbJoy, queue_size=1)
def publishControl(self):
# relevant tutorial: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick
# button mapping: Joystick (Logitech Gamepad F710) has 8 axes (X, Y, Z, Rx, Ry, Rz, Hat0X, Hat0Y)
# & 11 buttons (BtnX, BtnY, BtnTL, BtnTR, BtnTR2, BtnSelect, BtnThumbL, BtnThumbR, ?, ?, ?).
# pressure/depth control - right stick up/down (+1.0 up to -1.0 down)
# yaw control - right stick left/right (-1.0 right to +1.0 left)
# speed control - left stick up/down (+1.0 up to -1.0 down)
# frequency control - left stick right/left (-1.0 right to +1.0 left)
cmd_out = joystick_in()
cmd_out.header.stamp = self.joy.header.stamp
cmd_out.freq_ctrl = -1 * int(self.joy.axes[0] * 127)
cmd_out.speed_ctrl = int(self.joy.axes[1] * 127)
cmd_out.yaw_ctrl = -1 * int(self.joy.axes[3] * 127)
cmd_out.depth_ctrl = int(self.joy.axes[4] * 127)
self.pub_toSerial.publish(cmd_out)
