def handle_mouse_event(self, event):
msg = mouse_event() # instantiate ros message
if (event.type==evdev.ecodes.EV_REL): # if mouse motion
if event.code==evdev.ecodes.REL_X:
msg.right_displacement = event.value
elif event.code==evdev.ecodes.REL_Y:
msg.down_displacement = event.value
elif event.code==evdev.ecodes.REL_WHEEL:
msg.wheel_up_displacement = event.value
elif (event.type==evdev.ecodes.EV_KEY): # if button clicked
if event.code==evdev.ecodes.BTN_MOUSE:
msg.left_click = True
elif (event.code==evdev.ecodes.BTN_RIGHT):
msg.right_click = True
elif (event.code==evdev.ecodes.BTN_MIDDLE):
msg.middle_click = True
if (msg!=self.msg_default): # only publish non-default message
self.pub.publish(msg)
def handle_mouse_event(self, event):
msg = mouse_event() # instantiate ros message
if (event.type==evdev.ecodes.EV_REL): # if mouse motion
if event.code==evdev.ecodes.REL_X:
msg.right_displacement = event.value
elif event.code==evdev.ecodes.REL_Y:
msg.down_displacement = event.value
elif event.code==evdev.ecodes.REL_WHEEL:
msg.wheel_up_displacement = event.value
elif (event.type==evdev.ecodes.EV_KEY): # if button clicked
if event.code==evdev.ecodes.BTN_MOUSE:
msg.left_click = True
elif (event.code==evdev.ecodes.BTN_RIGHT):
msg.right_click = True
elif (event.code==evdev.ecodes.BTN_MIDDLE):
msg.middle_click = True
if (msg!=self.msg_default): # only publish non-default message
self.pub.publish(msg)
def initialise_ros_variables(self):
'''Set up topic called mouse_event and initialise mouse_to_ptz_driver
node'''
self.pub = rospy.Publisher('mouse_event', mouse_event, queue_size = 10)
rospy.init_node('mouse_to_ptz_driver', anonymous=False)
self.msg_default = mouse_event() # instantiate a default ros_message
def initialise_ros_variables(self):
'''Set up topic called mouse_event and initialise mouse_to_ptz_driver
node'''
self.pub = rospy.Publisher('mouse_event', mouse_event)
rospy.init_node('mouse_to_ptz_driver', anonymous=False)
self.msg_default = mouse_event() # instantiate a default ros_message
