def node():
pygame.init()
print 'Starting JoyStatus node:'
print 'Subscribing:'
print ' <none>'
print 'Publishing:'
print ' joy_status'
pub_joy_status = rospy.Publisher('joy_status', JoyStatus)
rospy.init_node('hex_joy')
screen = pygame.display.set_mode((640,480))
is_up = False
is_down = False
while not rospy.is_shutdown():
"""
#rospy.loginfo(grin)
print 'Sending ms on topic: "grin_status"...'
pub.publish(grin)
"""
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_UP:
is_up = True
if event.key == pygame.K_DOWN:
is_down = True
if event.type == pygame.KEYUP:
if event.key == pygame.K_UP:
is_up = False
if event.key == pygame.K_DOWN:
is_down = False
print 'is_up: ', is_up
print 'is_down: ', is_down
js = JoyStatus()
js.left_x = 0
js.left_y = 0
js.right_x = 0
js.right_y = 0
js.throttle = 0
if is_up: js.left_y += 0.5
if is_down: js.left_y -= 0.5
js.button_0 = False
js.button_1 = False
js.button_2 = False
js.button_3 = False
js.button_4 = False
js.button_5 = False
js.button_6 = False
js.button_7 = False
js.button_8 = False
js.button_9 = False
pub_joy_status.publish(js)
screen.fill( (0, 0, 0) )
pygame.draw.circle( screen, (255,0,0), (50,50), 10 )
pygame.display.flip()
rospy.sleep(0.01)
def node():
if len(sys.argv) < 2:
usage()
print 'ERROR: Not enough parameters'
exit(1)
port_name = sys.argv[1]
print 'Starting XBee node:'
print 'Subscribing:'
print ' <none>'
print 'Publishing:'
print ' joy_status'
pub_joy_status = rospy.Publisher('joy_status', JoyStatus)
rospy.init_node('hex_xbee')
print 'Initializing serial connection on', port_name
ser = CommsSerial(port_name,115200)
while not rospy.is_shutdown():
message = ser.recv()
msg_fields = struct.unpack('fffff??????????',message[2:])
js = JoyStatus()
js.left_x = msg_fields[0]
js.left_y = msg_fields[1]
js.right_x = msg_fields[2]
js.right_y = msg_fields[3]
js.throttle = msg_fields[4]
js.button_0 = msg_fields[5]
js.button_1 = msg_fields[6]
js.button_2 = msg_fields[7]
js.button_3 = msg_fields[8]
js.button_4 = msg_fields[9]
js.button_5 = msg_fields[10]
js.button_6 = msg_fields[11]
js.button_7 = msg_fields[12]
js.button_8 = msg_fields[13]
js.button_9 = msg_fields[14]
pub_joy_status.publish(js)
#rospy.sleep(0.25)
print 'Message (HEX): ',
for d in message:
print hex(ord(d)),
print ''
def node():
j = initialize_pygame_joystick()
if j == None:
exit(1)
print 'Starting JoyStatus node:'
print 'Subscribing:'
print ' <none>'
print 'Publishing:'
print ' joy_status'
pub_joy_status = rospy.Publisher('joy_status', JoyStatus)
rospy.init_node('hex_joy')
while not rospy.is_shutdown():
"""
#rospy.loginfo(grin)
print 'Sending ms on topic: "grin_status"...'
pub.publish(grin)
"""
for event in pygame.event.get():
pass
js = JoyStatus()
js.left_x = j.get_axis(0)
js.left_y = -j.get_axis(1)
js.right_x = j.get_axis(3)
js.right_y = -j.get_axis(2)
js.throttle = j.get_axis(4)
js.button_0 = j.get_button(0)
js.button_1 = j.get_button(1)
js.button_2 = j.get_button(2)
js.button_3 = j.get_button(3)
js.button_4 = j.get_button(4)
js.button_5 = j.get_button(5)
js.button_6 = j.get_button(6)
js.button_7 = j.get_button(7)
js.button_8 = j.get_button(8)
js.button_9 = j.get_button(9)
pub_joy_status.publish(js)
rospy.sleep(0.01)
