def steering_test():
pub = rospy.Publisher('steering/cmd', String)
rospy.init_node('steering_test')
cmd = SteeringCommand()
while not rospy.is_shutdown():
str = "hello world %s" % rospy.get_time()
rospy.loginfo(str)
pub.publish(String(str))
rospy.sleep(1.0)
def test():
topic = rospy.Publisher('steering/cmd', SteeringCommand)
rospy.Subscriber('steering/state', SteeringState, log_steering_state)
rospy.init_node('test_steering')
rospy.loginfo('starting steering test')
# initially, steering wheel is centered
cmd = SteeringCommand() # steering command msg
cmd.request = SteeringCommand.Degrees
cmd.angle = 0.0 # last angle requested
delta = 5.0 # change requested per second
while not rospy.is_shutdown():
if cmd.angle <= -max_steer_degrees or cmd.angle >= max_steer_degrees:
delta = -delta
cmd.angle += delta
log_steering_cmd(cmd)
topic.publish(cmd)
rospy.sleep(1.0)
def test():
topic = rospy.Publisher('steering/cmd', SteeringCommand)
rospy.Subscriber('steering/state', SteeringState, log_steering_state)
rospy.init_node('test_steering')
rospy.loginfo('starting steering test')
# initially, steering wheel is centered
cmd = SteeringCommand() # steering command msg
cmd.request = SteeringCommand.Degrees
cmd.angle = 0.0 # last angle requested
delta = 5.0 # change requested per second
while not rospy.is_shutdown():
if cmd.angle <= -max_steer_degrees or cmd.angle >= max_steer_degrees:
delta = -delta
cmd.angle += delta
log_steering_cmd(cmd)
topic.publish(cmd)
rospy.sleep(1.0)
def _JoyCallback(self,joyMessage):
# Implement a dead-man button. (right shoulder button, if not pressed, cancel
if joyMessage.buttons[self._deadman_button] == 0:
return
# Steering
angle = WombotVehicle.max_steer_degrees * joyMessage.axes[self.steering_axis]
if angle != self.last_angle:
rospy.loginfo("Publishing angle: "+str(angle))
cmd = SteeringCommand()
cmd.request = SteeringCommand.Degrees
cmd.angle = -angle
self.steering_publisher.publish(cmd)
self.last_angle = angle
#Throttle
# The signal from the Xbox goes from 1 being released to -1 being fully depressed
# We need to adjust the range to 0.0-1.0 and invert to get the throttle position
# of 0 = Off and 1 = Full
#position = 1-((joyMessage.axes[self.throttle_axis] + 1.0)/2.0) # for a trigger
position = joyMessage.axes[self.throttle_axis]
if position >= -0.1 and position <= 0.1:
position = 0.0
if position != self.last_throttle_position:
rospy.loginfo("Publishing throttle position: "+str(position))
cmd = ThrottleCommand()
cmd.request = ThrottleCommand.Absolute
cmd.position = position
self.throttle_publisher.publish(cmd)
self.last_throttle_position = position
# Brake
# because the brake is simply running the motor in reverse (tick values lower than
# 1340, to treat this like a 'normal' brake will require active mixing with the current
# throttle point, which will be done in the future.
position = 1-((joyMessage.axes[self.brake_axis] + 1.0)/2.0)
if position != self.last_brake_position:
rospy.loginfo("Publishing brake position: "+str(position))
cmd = BrakeCommand()
cmd.request = BrakeCommand.Absolute
cmd.position = position
self.brake_publisher.publish(cmd)
self.last_brake_position = position
drivetrain_cmd = DrivetrainCommand()
drivetrain_cmd.gear = DrivetrainCommand.NoChange
drivetrain_cmd.front_diff = DrivetrainCommand.NoChange
drivetrain_cmd.rear_diff = DrivetrainCommand.NoChange
# Gear
if (joyMessage.buttons[self.gear_shift_button] == 1) and (self._last_gear_button_state == 0):
drivetrain_cmd.gear = (DrivetrainCommand.LowRange,DrivetrainCommand.HighRange)[self._current_gear == DrivetrainCommand.LowRange]
self._current_gear = drivetrain_cmd.gear
self._last_gear_button_state = joyMessage.buttons[self.gear_shift_button]
# Rear Diff
if (joyMessage.buttons[self.rear_diff_lock_button] == 1) and (self._last_rdiff_button_state == 0):
drivetrain_cmd.rear_diff = (DrivetrainCommand.Unlock,DrivetrainCommand.Lock)[self._rdiff_state == DrivetrainCommand.Unlock]
self._rdiff_state = drivetrain_cmd.rear_diff
self._last_rdiff_button_state = joyMessage.buttons[self.rear_diff_lock_button]
# Front Diff
if (joyMessage.buttons[self.front_diff_lock_button] == 1) and (self._last_fdiff_button_state == 0):
drivetrain_cmd.front_diff = (DrivetrainCommand.Unlock,DrivetrainCommand.Lock)[self._fdiff_state == DrivetrainCommand.Unlock]
self._fdiff_state = drivetrain_cmd.front_diff
self._last_fdiff_button_state = joyMessage.buttons[self.front_diff_lock_button]
if drivetrain_cmd.gear + drivetrain_cmd.rear_diff + drivetrain_cmd.front_diff > 0:
rospy.loginfo("Drivetrain Command:- gear: "+str(drivetrain_cmd.gear)+", rdiff: "+str(drivetrain_cmd.rear_diff)+", fdiff: "+str(drivetrain_cmd.front_diff))
self.drivetrain_publisher.publish(drivetrain_cmd)
