def key_op():
#Function that continuously checks for key presses
"""Setup node and twistCommand object. Main ROS loop."""
#Init node. anonymous=True allows multiple launch with automatically assigned names
rospy.init_node('key_command', anonymous='True')
#Set rate to use (in Hz)
rate = rospy.Rate(50)
#to stands for tWISTcOMMAND oBJECT
tco = TwistCommand()
#Print out directions and current speeds
command_info = "'w': increment speed_linear;\n's': decrement speed_linear;\n'd': increment speed_angular;\n'a': decrement speed_angular"
rospy.loginfo(command_info)
rospy.loginfo("Current speed_linear: " + str(tco.speed_linear))
rospy.loginfo("Current speed_angular: " + str(tco.speed_angular))
global twist_msg
twist_msg = Twist()
#Boilerplate to get function to read keyboard
getch = mu._Getch()
while not rospy.is_shutdown():
#check for keyboard commands
key = getch()
tco.update(key)
#Wait until it is done
rate.sleep()
def main():
"""Function to setup node and loop"""
#Setup node and object for rate throttling
rospy.init_node('key_emergency_switch')
rate = rospy.Rate(50)
print ' Press "q" to quit.\n'
#Boilerplate to get function to read keyboard
getch = mu._Getch()
#Main ROS loop
while not rospy.is_shutdown():
key = getch()
if key == 'q':
rospy.loginfo("Shutdown initiated")
rospy.signal_shutdown(
'Shutting down initiated by %s' % rospy.get_name())
rate.sleep()
def send(self):
getch = mu._Getch() #Runs to recieve key commands
rate = rospy.Rate(50)
speed_linear = self.msg.linear.x #setting up variables specified in HW
speed_angular = self.msg.angular.z
while not rospy.is_shutdown():
key = getch()
#Runs through all the possibilities for key commands and prints
if key == 'w':
if speed_linear < 1.0:
speed_linear = speed_linear + 0.2 #increasing linear speed by 0.2
rospy.loginfo("New linear speed is %0.1f", speed_linear)
else:
rospy.loginfo("Linear speed is already at maximum, 1.0.")
elif key == 's':
if speed_linear > -1.0:
speed_linear = speed_linear - 0.2 #decreasing linear speed by 0.2
rospy.loginfo("New linear speed is %0.1f", speed_linear)
else:
rospy.loginfo("Linear speed is already at minimum, -1.0.")
elif key == 'd':
if speed_angular < 1.0:
speed_angular = speed_angular + 0.2 #increasing angular speed by 0.2
rospy.loginfo("New angular speed is %0.1f", speed_angular)
else:
rospy.loginfo("Angular speed is already at maximum, 1.0.")
elif key == 'a':
if speed_angular > -1.0:
speed_angular = speed_angular - 0.2 #decreasing angular speed by 0.2
rospy.loginfo("New angular speed is %0.1f", speed_angular)
else:
rospy.loginfo("Angular speed is already at minimum, -1.0.")
elif key == 'q':
rospy.loginfo("Shutdown initiated")
rospy.signal_shutdown(
"Shutting down initiated by key_emergency_switch")
else:
pass
#Need to spend the values of the variables back to Twist
self.msg.linear.x = speed_linear
self.msg.angular.z = speed_angular
self.pub.publish(self.msg) #sends back to Twist
rate.sleep()
def main():
"""The node permits to change velocities of the robot through the press of certain keys on your keyboard:
press:
w - accelerate/increases linear velocities in front direction
a - turn left
s - decelerate/decreases linear velocity in front direction
d - turn right
q - quit
"""
rospy.init_node('key_op', anonymous='True')
pub = rospy.Publisher('robot_twist', Twist, queue_size=10)
tmsg = Twist()
rate = rospy.Rate(50)
speed = mcm.KeysToVelocities()
getch = mu._Getch()
while not rospy.is_shutdown():
key = getch()
if key == 'q':
rospy.loginfo('Shutdown Initiated')
rospy.signal_shutdown('Shutting down initiated by %s' %
rospy.get_name())
else:
speedv = speed.update_speeds(key)
tmsg.linear.x = speedv[0]
tmsg.angular.z = speedv[1]
pub.publish(tmsg)
rate.sleep()
def main():
"""Function to setup node and loop"""
#Setup node and object for rate throttling
rospy.init_node('key_op')
rate = rospy.Rate(50)
pub = rospy.Publisher('robot_twist', Twist, queue_size=10)
#Boilerplate to get function to read keyboard
getch = mu._Getch()
key_to_speed = mcm.KeysToVelocities()
cmd_vel = Twist()
print_usage()
print('Linear Speed: %f | Angular Speed: %f'%(key_to_speed.speed_linear,key_to_speed.speed_angular))
print('')
#Main ROS loop
while not rospy.is_shutdown():
key = getch()
# Check if exit is commanded
if key == 'q' or key == 'Q':
rospy.loginfo("Shutdown initiated")
rospy.signal_shutdown(
'Shutting down initiated by %s' % rospy.get_name())
else:
key_to_speed.update_speeds(key)
cmd_vel.linear.x = key_to_speed.speed_linear
cmd_vel.angular.z = key_to_speed.speed_angular
print(key_to_speed.action)
print('Linear Speed: %f | Angular Speed: %f'%(key_to_speed.speed_linear,key_to_speed.speed_angular))
print('')
pub.publish(cmd_vel)
rate.sleep()