def run(self):
rate = rospy.Rate(100)
while not rospy.is_shutdown():
vel = PoseVelocity()
vel.twist_linear_x = self.x
vel.twist_linear_y = self.y
vel.twist_linear_z = self.z
vel.twist_angular_x = 0.0
vel.twist_angular_y = 0.0
vel.twist_angular_z = 0.0
self.pub.publish(vel)
rate.sleep()
def publishArmLinControl(self):
pose_vel_msg = PoseVelocity()
pose_vel_msg.twist_linear_x = self.joy.axes[
1] * self.v_lin_gain # Up/Down Axis stick left
pose_vel_msg.twist_linear_y = self.joy.axes[
0] * self.v_lin_gain # Left/Right Axis stick left
pose_vel_msg.twist_linear_z = self.joy.axes[
3] * self.v_lin_gain # Up/Down Axis stick right
pose_vel_msg.twist_angular_x = 0
pose_vel_msg.twist_angular_y = 0
pose_vel_msg.twist_angular_z = 0
self.pub_pose_vel_cmd.publish(pose_vel_msg)
def publishArmAngControl(self):
pose_vel_msg = PoseVelocity()
pose_vel_msg.twist_linear_x = 0
pose_vel_msg.twist_linear_y = 0
pose_vel_msg.twist_linear_z = 0
pose_vel_msg.twist_angular_x = self.joy.axes[
1] * self.w_ang_gain # Up/Down Axis stick left
if self.joy.buttons[1] == 0: # if lip is not pressed
pose_vel_msg.twist_angular_y = self.joy.axes[
0] * self.w_ang_gain # Left/Right Axis stick left
elif self.joy.buttons[1] == 1: # if lip is pressed
pose_vel_msg.twist_angular_z = self.joy.axes[
0] * -self.w_ang_gain # Left/Right Axis stick right
self.pub_pose_vel_cmd.publish(pose_vel_msg)
def publishArmLinControl(self):
pose_vel_msg = PoseVelocity()
pose_vel_msg.twist_linear_x = self.joy.axes[
1] * self.v_lin_gain # Left\Right
if self.joy.buttons[1] == 0: # if lip is not pressed
pose_vel_msg.twist_linear_y = self.joy.axes[
0] * self.v_lin_gain # Forward\Backward
elif self.joy.buttons[1] == 1: # if lip is pressed
pose_vel_msg.twist_linear_z = self.joy.axes[
0] * self.v_lin_gain # Up/Down Axis stick right
pose_vel_msg.twist_angular_x = 0
pose_vel_msg.twist_angular_y = 0
pose_vel_msg.twist_angular_z = 0
self.pub_pose_vel_cmd.publish(pose_vel_msg)