def __init__(self): "JoyNode constructor" # estop control self.estop = 13 # emergency stop # tele-operation controls self.steer = 0 # steering axis (wheel) self.drive = 4 # shift to Drive (^) self.reverse = 6 # shift to Reverse (v) self.park = 7 # shift to Park self.throttle = 18 # throttle axis (X) self.throttle_start = True self.brake = 19 # brake axis (square) self.brake_start = True self.counter = 0 self.throttleQueue = Queue.Queue() self.cruiseSwitch = 1 # Press down Joystick self.cruise = False # initialize ROS topics rospy.init_node('hks_teleop') self.pilot = pilot_cmd.PilotCommand() self.reconf_server = ReconfigureServer(Config, self.reconfigure) self.joy = rospy.Subscriber('joy', Joy, self.joyCallback)
def __init__(self): "JoyNode constructor" # estop controls self.run = 3 # start autonomous run self.suspend = 12 # suspend autonomous running self.estop = 13 # emergency stop # tele-operation controls self.steer = 0 # steering axis (wheel) self.drive = 4 # shift to Drive (^) self.reverse = 6 # shift to Reverse (v) self.park = 7 # shift to Park self.throttle = 18 # throttle axis (X) self.throttle_start = True self.brake = 19 # brake axis (square) self.brake_start = True self.lowincrease_max = 11 # Increase max .5 (R1) self.highincrease_max = 9 # Increase max 2 (R2) self.lowdecrease_max = 10 # Decrease max .5 (L1) self.highdecrease_max = 8 # Decrease max 2 (L2) # initialize ROS topics rospy.init_node('josh_teleop') self.pilot = pilot_cmd.PilotCommand() self.reconf_server = ReconfigureServer(JoyConfig, self.reconfigure) self.joy = rospy.Subscriber('joy', Joy, self.joyCallback)
def __init__(self): "JoyNode constructor" # estop controls self.run = 3 # start autonomous run self.suspend = 12 # suspend autonomous running self.estop = 13 # emergency stop # tele-operation controls self.steer = 0 # steering axis (wheel) self.drive = 4 # shift to Drive (^) self.reverse = 6 # shift to Reverse (v) self.park = 7 # shift to Park self.throttle = 18 # throttle axis (X) self.throttle_start = True self.brake = 19 # brake axis (square) self.brake_start = True self.steeringQueue = Queue.Queue() self.counter = 0 # initialize ROS topics rospy.init_node('jaime_teleop') self.pilot = pilot_cmd.PilotCommand() self.steering = SteeringState() self.reconf_server = ReconfigureServer(JoyConfig, self.reconfigure) self.joy = rospy.Subscriber('joy', Joy, self.joyCallback)
def __init__(self, name=""): """ Constructor for the DelegationManager :param name: name of this instance of the DelegationManager, should be unique :type name: str """ self._name = name self._param_prefix = self._name + DelegationManager.param_suffix self._delegations = [] self._auction_id = 0 self._max_tasks = 10 # should be changed by for dynamic_reconfigure self._tasks = [] self._current_delegation_depth = 0 self._cost_computable = False self._cost_function_evaluator = None self._registered_agent_name = "" self._manager_client_id = -1 # ID of the client of the manager self._active_client_ids = [] # list of client IDs # not started at construction self._get_depth_service = None self._init_topics() self._init_services() if not DelegationManager.dynamic_reconfigure_server: # only one server per node DelegationManager.dynamic_reconfigure_server = ReconfigureServer( DelegationManagerConfig, self._dynamic_reconfigure_callback, namespace="/" + self._param_prefix) else: self._config_subscriber = rospy.Subscriber( DelegationManager.dynamic_reconfigure_server.ns + 'parameter_updates', ConfigMsg, self._dynamic_reconfigure_listener_callback) self._loginfo("Initiation of DelegationManager completed")
def __init__(self): """ Initialises the conductor, but doesn't try to do anything yet. :raises: :exc:`.ConductorFailureException` if construction went awry. """ ################################## # Local Information ################################## self._local_gateway = LocalGateway( ) # can throw rocon_python_comms.NotFoundException. self._concert_name = self._local_gateway.name self._concert_ip = self._local_gateway.ip ################################## # Ros ################################## self.publishers = self._setup_publishers( ) # can raise ConductorFailureException rospy.on_shutdown(self._shutdown) self._param = setup_ros_parameters() self._reconfig_server = ReconfigureServer( paramsConfig, self._callback_dynamic_reconfigure) ################################## # Variables ################################## self._watcher_period = 1.0 # Period for the watcher thread (i.e. update rate) self._concert_clients = \ concert_clients.ConcertClients( self._local_gateway, self._param, self.publish_concert_clients, self.publish_conductor_graph ) self.publish_concert_clients( ) # Publish an empty list, to latch it and start
def __init__(self, topic): QtGui.QMainWindow.__init__(self) self.topic = topic self.reconf_server = ReconfigureServer(Config, self.reconfigure) self.resize(350, 250) self.setIconSize(QtCore.QSize(32, 32)) self.setWindowTitle('Vehicle Tele-Operation') qexit = QtGui.QAction(QtGui.QIcon(pkg_icon('exit')), 'Exit', self) qexit.setShortcut('Ctrl+Q') self.connect(qexit, QtCore.SIGNAL('triggered()'), QtCore.SLOT('close()')) center_wheel = QtGui.QAction(QtGui.QIcon(pkg_icon('go-first')), 'center wheel', self) center_wheel.setShortcut(QtCore.Qt.Key_Home) self.connect(center_wheel, QtCore.SIGNAL('triggered()'), self.center_wheel) go_left = QtGui.QAction(QtGui.QIcon(pkg_icon('go-previous')), 'steer left', self) go_left.setShortcut(QtCore.Qt.Key_Left) self.connect(go_left, QtCore.SIGNAL('triggered()'), self.go_left) go_left_more = QtGui.QAction('steer left more', self) go_left_more.setShortcut(QtGui.QKeySequence.SelectPreviousWord) self.connect(go_left_more, QtCore.SIGNAL('triggered()'), self.go_left_more) go_left_less = QtGui.QAction('steer left less', self) go_left_less.setShortcut(QtGui.QKeySequence.MoveToPreviousWord) self.connect(go_left_less, QtCore.SIGNAL('triggered()'), self.go_left_less) slow_down = QtGui.QAction(QtGui.QIcon(pkg_icon('go-down')), 'slow down', self) slow_down.setShortcut(QtCore.Qt.Key_Down) self.connect(slow_down, QtCore.SIGNAL('triggered()'), self.slow_down) speed_up = QtGui.QAction(QtGui.QIcon(pkg_icon('go-up')), 'speed up', self) speed_up.setShortcut(QtCore.Qt.Key_Up) self.connect(speed_up, QtCore.SIGNAL('triggered()'), self.speed_up) go_right = QtGui.QAction(QtGui.QIcon(pkg_icon('go-next')), 'steer right', self) go_right.setShortcut(QtCore.Qt.Key_Right) self.connect(go_right, QtCore.SIGNAL('triggered()'), self.go_right) go_right_less = QtGui.QAction('steer right less', self) go_right_less.setShortcut(QtGui.QKeySequence.MoveToNextWord) self.connect(go_right_less, QtCore.SIGNAL('triggered()'), self.go_right_less) go_right_more = QtGui.QAction('steer right more', self) go_right_more.setShortcut(QtGui.QKeySequence.SelectNextWord) self.connect(go_right_more, QtCore.SIGNAL('triggered()'), self.go_right_more) stop_car = QtGui.QAction(QtGui.QIcon(pkg_icon('go-bottom')), 'stop car', self) stop_car.setShortcut(QtCore.Qt.Key_End) self.connect(stop_car, QtCore.SIGNAL('triggered()'), self.stop_car) menubar = self.menuBar() mfile = menubar.addMenu('&File') mfile.addAction(qexit) speed = menubar.addMenu('&Speed') speed.addAction(slow_down) speed.addAction(stop_car) speed.addAction(speed_up) wheel = menubar.addMenu('&Wheel') wheel.addAction(center_wheel) wheel.addAction(go_left) wheel.addAction(go_left_less) wheel.addAction(go_left_more) wheel.addAction(go_right) wheel.addAction(go_right_less) wheel.addAction(go_right_more) toolbar = self.addToolBar('Controls') toolbar.addAction(qexit) toolbar.addAction(center_wheel) toolbar.addAction(go_left) toolbar.addAction(slow_down) toolbar.addAction(stop_car) toolbar.addAction(speed_up) toolbar.addAction(go_right) self.ack_cmd = AckermannDriveStamped() self.ack_cmd.header.stamp = rospy.Time.now() self.drive = AckermannDrive() self.ack_cmd.drive = self.drive self.topic.publish(self.ack_cmd) self.updateStatusBar()