def __init__(self, target_sim=False):
if target_sim:
topic = '/turtle1/cmd_vel'
else:
topic = '/cmd_vel_mux/input/teleop'
super(DirectionController, self).__init__(topic, Twist, 1 / 10.0)
self.key_listener = DirectionalKeyListener(
callback=self.on_key_pressed,
direction_mappings=DirectionController.KEY_BINDINGS)
def __init__(self, target_sim=False):
if target_sim:
topic = '/turtle1/cmd_vel'
else:
topic = '/cmd_vel_mux/input/teleop'
super(DirectionController, self).__init__(topic, Twist, 1/10.0)
self.key_listener = DirectionalKeyListener(callback=self.on_key_pressed,
direction_mappings=DirectionController.KEY_BINDINGS)
class DirectionController(ThreadedPublisher):
LINEAR_SPD = 0.15
ANGULAR_SPD = 0.5
KEY_BINDINGS = {
ord('a'): Twist(Vector3(LINEAR_SPD,0,0),
Vector3(0,0,ANGULAR_SPD)),
ord('z'): Twist(Vector3(LINEAR_SPD,0,0),
Vector3(0,0,0)),
ord('e'): Twist(Vector3(LINEAR_SPD,0,0),
Vector3(0,0,-ANGULAR_SPD)),
ord('q'): Twist(Vector3(0,0,0),
Vector3(0,0,ANGULAR_SPD)),
ord('s'): Twist(Vector3(-LINEAR_SPD,0,0),
Vector3(0,0,0)),
ord('d'): Twist(Vector3(0,0,0),
Vector3(0,0,-ANGULAR_SPD)),
ord('w'): Twist(Vector3(-LINEAR_SPD,0,0),
Vector3(0,0,-ANGULAR_SPD)),
ord('x'): Twist(Vector3(-LINEAR_SPD,0,0),
Vector3(0,0,ANGULAR_SPD)),
ord(' '): Twist(Vector3(0,0,0),
Vector3(0,0,0))
}
def __init__(self, target_sim=False):
if target_sim:
topic = '/turtle1/cmd_vel'
else:
topic = '/cmd_vel_mux/input/teleop'
super(DirectionController, self).__init__(topic, Twist, 1/10.0)
self.key_listener = DirectionalKeyListener(callback=self.on_key_pressed,
direction_mappings=DirectionController.KEY_BINDINGS)
def loop(self):
''' Replace this thread's loop with the listener's activation '''
self.key_listener.activate()
def on_key_pressed(self, direction, key, listener):
''' Listener style, to be used with DirectionalKeyListener '''
self.publish(direction)
class DirectionController(ThreadedPublisher):
LINEAR_SPD = 0.15
ANGULAR_SPD = 0.5
KEY_BINDINGS = {
ord('a'): Twist(Vector3(LINEAR_SPD, 0, 0), Vector3(0, 0, ANGULAR_SPD)),
ord('z'): Twist(Vector3(LINEAR_SPD, 0, 0), Vector3(0, 0, 0)),
ord('e'): Twist(Vector3(LINEAR_SPD, 0, 0), Vector3(0, 0,
-ANGULAR_SPD)),
ord('q'): Twist(Vector3(0, 0, 0), Vector3(0, 0, ANGULAR_SPD)),
ord('s'): Twist(Vector3(-LINEAR_SPD, 0, 0), Vector3(0, 0, 0)),
ord('d'): Twist(Vector3(0, 0, 0), Vector3(0, 0, -ANGULAR_SPD)),
ord('w'): Twist(Vector3(-LINEAR_SPD, 0, 0),
Vector3(0, 0, -ANGULAR_SPD)),
ord('x'): Twist(Vector3(-LINEAR_SPD, 0, 0), Vector3(0, 0,
ANGULAR_SPD)),
ord(' '): Twist(Vector3(0, 0, 0), Vector3(0, 0, 0))
}
def __init__(self, target_sim=False):
if target_sim:
topic = '/turtle1/cmd_vel'
else:
topic = '/cmd_vel_mux/input/teleop'
super(DirectionController, self).__init__(topic, Twist, 1 / 10.0)
self.key_listener = DirectionalKeyListener(
callback=self.on_key_pressed,
direction_mappings=DirectionController.KEY_BINDINGS)
def loop(self):
''' Replace this thread's loop with the listener's activation '''
self.key_listener.activate()
def on_key_pressed(self, direction, key, listener):
''' Listener style, to be used with DirectionalKeyListener '''
self.publish(direction)
