def __init__(self):
rospy.init_node('controller')
self.goal = False
self.sendman = sender()
self.twist = Twist()
self.last_twist = Twist()
self.action_count = 0
print('node started')
rospy.Subscriber("twitch", Twist, self.callback)
rospy.Subscriber("if_goal", Bool, self.is_goal)
rospy.spin()
def __init__(self):
rospy.init_node('controller')
self.goal = False
self.sendman = sender()
self.twist = Twist()
self.action_count = 0
self.plus = 0
self.minus = 0
self.j = self.create_zero_twist()
print('node started')
rospy.Subscriber("twitch", Twist, self.callback)
rospy.Subscriber("if_goal", Bool, self.is_goal)
rospy.Subscriber("Emergency", Bool, self.is_Emergency)
rospy.spin()
speed_ratio_l = 0 # To slow down linear velocity smoothly
speed_ratio_a = 0 # To slow down angular velocity smoothly
pre_linear_v = 0 # Record previous motion
pre_angular_v = 0 # Record previous motion
full_speed = 0.5 # Highest speed
pygame.init()
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates.
clock = pygame.time.Clock()
# Initialize the joysticks.
pygame.joystick.init()
sendman = sender()
# -------- Main Program Loop -----------
while not done:
joystick = pygame.joystick.Joystick(0)
joystick.init()
# create message
j = {
'linear_x': 0.0,
'linear_y': 0.0,
'linear_z': 0.0,
'angular_x': 0.0,
'angular_y': 0.0,
'angular_z': 0.0,
}