Python JoyFeedbackの例

コード例 #1

ファイル: wiimote_to_pointer.py プロジェクト: EndPointCorp/lg_ros_nodes

    def handle_wiimote_state(self, msg):
        with self._lock:
            if self.vz == -msg.angular_velocity_zeroed.z and \
               self.vx == msg.angular_velocity_zeroed.x and \
               self.vy == -msg.angular_velocity_zeroed.y:
                self.stale_count += 1
            else:
                self.stale_count = 0

            if self.stale_count == MAX_STALE_COUNT:
                rospy.logwarn('Attempting to reset a stale device')
                self.stale_handler()
                return

            self.vz = -msg.angular_velocity_zeroed.z
            self.vx = msg.angular_velocity_zeroed.x
            self.vy = -msg.angular_velocity_zeroed.y
            self.last_state = msg

            if not msg.LEDs[0]:
                feedback_array_msg = JoyFeedbackArray()
                feedback_msg = JoyFeedback()
                feedback_msg.intensity = 1.0
                feedback_array_msg.array.append(feedback_msg)
                self.feedback_pub.publish(feedback_array_msg)

コード例 #2

ファイル: sensor_msgpack.py プロジェクト: tccolestock/rospy_msgpack

 def joy_feedback_array(cls, msg, obj):
     for i in range(msg['_length']):
         jf = JoyFeedback()
         jf.type = msg['%s_type' % i]
         jf.id = msg['%s_id' % i]
         jf.intensity = msg['%s_intensity' % i]
         obj.array.append(jf)
     return(obj)

コード例 #3

ファイル: new_teleop.py プロジェクト: tanay-bits/baxter_skeletonteleop

    def cb_rum(self, event):      
        if self.gripperL._state.force > 20 and self.rumFlag == True:
            rum = JoyFeedback()
            rum.type = JoyFeedback.TYPE_RUMBLE
            rum.id = 0
            rum.intensity = 0.51
            msg = JoyFeedbackArray()
            msg.array = [rum]            
            self.pub.publish(msg)
            rospy.sleep(0.3)
            rum.intensity = 0.0
            msg.array = [rum]
            self.pub.publish(msg)
            self.rumFlag = False

        if self.gripperL._state.force == 0:
            self.rumFlag = True

コード例 #4

def selected_only_box_cb(msg):
    pose_stamped_msg = PoseStamped()
    pose_stamped_msg.header = msg.header
    pose_stamped_msg.pose = msg.pose
    set_pose_pub.publish(pose_stamped_msg)
    # set_pose_srv(pose_stamped=pose_stamped_msg)
    # dimensions
    x = msg.dimensions.x
    y = msg.dimensions.y
    z = msg.dimensions.z
    shape_type = get_type_srv()
    midi_feedback = []
    if shape_type.type == TransformableMarkerOperate.BOX:
        set_dim_srv(dimensions=MarkerDimensions(x=x, y=y, z=z))
        midi_feedback.append(
            JoyFeedback(id=0, intensity=(x - x_min) / (x_max - x_min)))
        midi_feedback.append(
            JoyFeedback(id=1, intensity=(y - y_min) / (y_max - y_min)))
        midi_feedback.append(
            JoyFeedback(id=2, intensity=(z - z_min) / (z_max - z_min)))
    elif shape_type.type == TransformableMarkerOperate.CYLINDER:
        r = min(x, y)
        set_dim_srv(dimensions=MarkerDimensions(radius=r, z=z))
        midi_feedback.append(
            JoyFeedback(id=0, intensity=(r - r_min) / (r_max - r_min)))
        midi_feedback.append(
            JoyFeedback(id=1, intensity=(z - z_min) / (z_max - z_min)))
    elif shape_type.type == TransformableMarkerOperate.TORUS:
        r = min(x, y) * 0.5
        sr = min(x, y) * 0.5 * 0.1
        set_dim_srv(dimensions=MarkerDimensions(radius=r, small_radius=sr))
        midi_feedback.append(
            JoyFeedback(id=0, intensity=(r - r_min) / (r_max - r_min)))
        midi_feedback.append(
            JoyFeedback(id=1, intensity=(sr - sr_min) / (sr_max - sr_min)))
    color = ColorRGBA(r=1.0, g=1.0, b=0.0, a=0.6)
    set_color_pub.publish(color)
    midi_feedback_pub.publish(midi_feedback)

コード例 #5

ファイル: feedbackTester.py プロジェクト: FranekStark/joystick_drivers

def talker():
    pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray, queue_size=1)
    rospy.init_node('ledControlTester', anonymous=True)

    led0 = JoyFeedback()
    led0.type = JoyFeedback.TYPE_LED
    led0.id = 0
    led1 = JoyFeedback()
    led1.type = JoyFeedback.TYPE_LED
    led1.id = 1
    led2 = JoyFeedback()
    led2.type = JoyFeedback.TYPE_LED
    led2.id = 2
    led3 = JoyFeedback()
    led3.type = JoyFeedback.TYPE_LED
    led3.id = 3
    rum = JoyFeedback()
    rum.type = JoyFeedback.TYPE_RUMBLE
    rum.id = 0

    while not rospy.is_shutdown():

        msg = JoyFeedbackArray()
        msg.array = [led0, led1, led2, led3, rum]

        led0.intensity = 0.2
        led3.intensity = 0.2
        rum.intensity = 0.49

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led0.intensity = 1.0
        rum.intensity = 0.51

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led0.intensity = 0.0
        led1.intensity = 1.0
        rum.intensity = 0.0

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led1.intensity = 0.0
        led2.intensity = 1.0
        rum.intensity = 0.7

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led2.intensity = 0.0
        led3.intensity = 1.0
        rum.intensity = 0.49

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led1.intensity = 1.0
        led2.intensity = 1.0
        rum.intensity = 1.0

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led0.intensity = 1.0
        led1.intensity = 0.4
        led2.intensity = 0.4

        msg.array = [led0, led1, led2]

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

コード例 #6

    def execute_rumble(self):
        if self.rumble_type is not None:
            self.rumble_pub.publish(
                JoyFeedbackArray([JoyFeedback(type=1, id=0, intensity=0.0)]))

            if self.rumble_type == 'long':
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=1.0)]))
                t_end = rospy.Time.now() + rospy.Duration(2.0)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=0.0)]))

            elif self.rumble_type == 'short':
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=1.0)]))
                t_end = rospy.Time.now() + rospy.Duration(1.0)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=0.0)]))

            elif self.rumble_type == 'shortx3':
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=1.0)]))
                t_end = rospy.Time.now() + rospy.Duration(0.4)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=0.0)]))
                if self.rumble_type is None:
                    return
                t_end = rospy.Time.now() + rospy.Duration(0.2)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=1.0)]))
                t_end = rospy.Time.now() + rospy.Duration(0.4)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=0.0)]))
                if self.rumble_type is None:
                    return
                t_end = rospy.Time.now() + rospy.Duration(0.2)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=1.0)]))
                t_end = rospy.Time.now() + rospy.Duration(0.4)
                while rospy.Time.now(
                ) < t_end and self.rumble_type is not None:
                    rospy.sleep(0.1)
                self.rumble_pub.publish(
                    JoyFeedbackArray(
                        [JoyFeedback(type=1, id=0, intensity=0.0)]))

            else:
                rospy.logerr('user_prompt > unrecognized rumble_type=%s' %
                             rumble_type)

コード例 #7

ファイル: wii_test.py プロジェクト: rakuseirobot/Carrot-ROS-src

        pass
    elif data.buttons[5]==False and past.buttons[5]==True:
        #LED OFF
        pass
    print(siita)
    pub.publish(msg)
    past=data


rospy.Subscriber('/wiimote/state', State, callback, queue_size=10)

pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray, queue_size=10)
#stm = rospy.Publisher('/stm', stm_carrot, queue_size=1)
rospy.init_node('ledControlTester', anonymous=True)

led0 = JoyFeedback()
led0.type = JoyFeedback.TYPE_LED
led0.id = 0
led1 = JoyFeedback()
led1.type = JoyFeedback.TYPE_LED
led1.id = 1
led2 = JoyFeedback()
led2.type = JoyFeedback.TYPE_LED
led2.id = 2
led3 = JoyFeedback()
led3.type = JoyFeedback.TYPE_LED
led3.id = 3
rum = JoyFeedback()
rum.type = JoyFeedback.TYPE_RUMBLE
rum.id = 0

コード例 #8

ファイル: feedbackTester.py プロジェクト: ros-drivers/joystick_drivers

def talker():
    pub = rospy.Publisher('/joy/set_feedback', JoyFeedbackArray, queue_size=1)
    rospy.init_node('ledControlTester', anonymous=True)

    led0 = JoyFeedback()
    led0.type = JoyFeedback.TYPE_LED
    led0.id = 0
    led1 = JoyFeedback()
    led1.type = JoyFeedback.TYPE_LED
    led1.id = 1
    led2 = JoyFeedback()
    led2.type = JoyFeedback.TYPE_LED
    led2.id = 2
    led3 = JoyFeedback()
    led3.type = JoyFeedback.TYPE_LED
    led3.id = 3
    rum = JoyFeedback()
    rum.type = JoyFeedback.TYPE_RUMBLE
    rum.id = 0


    while not rospy.is_shutdown():

        msg = JoyFeedbackArray()
        msg.array = [led0, led1, led2, led3, rum]

        led0.intensity = 0.2
        led3.intensity = 0.2
        rum.intensity = 0.49

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led0.intensity = 1.0
        rum.intensity = 0.51

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led0.intensity = 0.0
        led1.intensity = 1.0
        rum.intensity = 0.0

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led1.intensity = 0.0
        led2.intensity = 1.0
        rum.intensity = 0.7

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led2.intensity = 0.0
        led3.intensity = 1.0
        rum.intensity = 0.49

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led1.intensity = 1.0
        led2.intensity = 1.0
        rum.intensity = 1.0

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

        led0.intensity = 1.0
        led1.intensity = 0.4
        led2.intensity = 0.4

        msg.array = [led0, led1, led2]

        if msg is not None:
            rospy.logdebug("Msg: " + str(msg))
            pub.publish(msg)
            rospy.sleep(INTER_PATTERN_SLEEP_DURATION)

コード例 #9

ファイル: joy_ctrl.py プロジェクト: BlueCop/qbo_joy_ctrl

 def setPS3LED(self):
     led0 = JoyFeedback()
     led0.type = JoyFeedback.TYPE_LED
     led0.id = 0
     led0.intensity = 1.
     led1 = JoyFeedback()
     led1.type = JoyFeedback.TYPE_LED
     led1.id = 1
     led1.intensity = 0.
     led2 = JoyFeedback()
     led2.type = JoyFeedback.TYPE_LED
     led2.id = 2
     led2.intensity = 0.
     led3 = JoyFeedback()
     led3.type = JoyFeedback.TYPE_LED
     led3.id = 3
     led3.intensity = 0.
     rum0 = JoyFeedback()
     rum0.type = JoyFeedback.TYPE_RUMBLE
     rum0.id = 0
     rum0.intensity = 0.
     rum1 = JoyFeedback()
     rum1.type = JoyFeedback.TYPE_RUMBLE
     rum1.id = 1
     rum1.intensity = 0.
     feedback = JoyFeedbackArray()
     feedback.array = [led0,led1,led2,led3,rum0,rum1]    
     self.ps3joy_pub.publish(feedback)
     rospy.loginfo("setPS3LED: "+str(feedback))