def __init__(self):
rospy.loginfo('Joystick base init ...')
self.pub = rospy.Publisher('base/cmd_vel', Twist, queue_size=1)
self.pub_priority = rospy.Publisher('base/master_cmd_vel', Twist, queue_size=1)
self.cancel_goal_client = rospy.ServiceProxy('/bender/nav/goal_server/cancel', Empty)
# control
self.is_paused = False
# load configuration
self.b_pause = rospy.get_param('~b_pause', 'START')
self.b_cancel = rospy.get_param('~b_cancel', 'B')
self.b_priority = rospy.get_param('~b_priority', 'LB')
a_linear = rospy.get_param('~a_linear', 'LS_VERT')
a_angular = rospy.get_param('~a_angular', 'LS_HORZ')
self.max_linear_vel = rospy.get_param('~max_linear_vel', 0.5)
self.max_angular_vel = rospy.get_param('~max_angular_vel', 0.5)
key_mapper = xbox.KeyMapper()
self.b_idx_pause = key_mapper.get_button_id(self.b_pause)
self.b_idx_cancel = key_mapper.get_button_id(self.b_cancel)
self.b_idx_priority = key_mapper.get_button_id(self.b_priority)
self.a_idx_linear = key_mapper.get_axis_id(a_linear)
self.a_idx_angular = key_mapper.get_axis_id(a_angular)
# check
self.assert_params()
# ready to work
rospy.Subscriber('joy', Joy, self.callback, queue_size=1)
rospy.loginfo('Joystick for base is ready')
def __init__(self):
rospy.loginfo('Joystick TTS init ...')
# connections
self.tts_client = rospy.ServiceProxy('tts/say', BenderString)
# load tts configuration
self.tts_phrases = rospy.get_param('~tts_phrases', [])
self.b_pause = rospy.get_param('~b_pause', 'START')
b_increment = rospy.get_param('~b_increment', 'UP')
b_decrement = rospy.get_param('~b_decrement', 'DOWN')
b_phrase_1 = rospy.get_param('~b_phrase_1', 'LEFT')
b_phrase_2 = rospy.get_param('~b_phrase_2', 'RIGHT')
key_mapper = xbox.KeyMapper()
self.b_idx_pause = key_mapper.get_button_id(self.b_pause)
self.b_idx_increment = key_mapper.get_button_id(b_increment)
self.b_idx_decrement = key_mapper.get_button_id(b_decrement)
self.b_idx_phrase_1 = key_mapper.get_button_id(b_phrase_1)
self.b_idx_phrase_2 = key_mapper.get_button_id(b_phrase_2)
# check
self.assert_params()
# control
self.is_paused = False
self.tts_level = 0
# ready to work
rospy.Subscriber('joy', Joy, self.callback, queue_size=1)
rospy.loginfo('Joystick for TTS is ready')
def params_are_valid(self):
"""
checks whether the user parameters are valid or no.
"""
assert isinstance(self.proxy_button, str)
assert isinstance(self.default_channel, str)
assert isinstance(self.channels, dict)
button_set = set()
key_mapper = xbox.KeyMapper()
if not key_mapper.has_button(self.proxy_button):
rospy.logerr("proxy: unknown button '%s'" % self.proxy_button)
return False
button_set.add(self.proxy_button)
for channel_name, channel in self.channels.items():
assert isinstance(channel_name, str)
assert isinstance(channel, dict)
if 'button' not in channel:
rospy.logerr(
"proxy: channel '%s' does not has 'button' field" %
channel_name)
return False
if 'topic' not in channel:
rospy.logerr("proxy: channel '%s' does not has 'topic' field" %
channel_name)
return False
assert isinstance(channel['button'], str)
assert isinstance(channel['topic'], str)
if not key_mapper.has_button(channel['button']):
rospy.logerr("proxy: button '%s' is invalid for channel '%s'" %
(channel['button'], channel_name))
return False
if channel['button'] == self.proxy_button:
rospy.logerr(
"proxy: button for channel '%s' cannot be equals to the proxy button"
% channel_name)
return False
button_set.add(channel['button'])
if self.default_channel not in self.channels:
rospy.logerr(
"proxy: default channel '%s' is not into the available options"
% self.default_channel)
return False
if len(button_set) != len(self.channels) + 1:
rospy.logerr("proxy: all buttons must be different!")
return False
return True
def __init__(self):
rospy.loginfo('Joystick head init ...')
# connections
self.head_pub = rospy.Publisher('head/cmd', Emotion, queue_size=1)
# load head configuration
self.b_pause = rospy.get_param('~b_pause', 'START')
b_neck_actuate = rospy.get_param('~b_neck_actuate', 'RS')
a_neck_sides = rospy.get_param('~a_neck_sides', 'RS_HORZ')
a_neck_front = rospy.get_param('~a_neck_front', 'RS_VERT')
b_increment = rospy.get_param('~b_increment', 'RB')
b_decrement = rospy.get_param('~b_decrement', 'LB')
b_happy = rospy.get_param('~b_happy', 'A')
b_angry = rospy.get_param('~b_angry', 'B')
b_sad = rospy.get_param('~b_sad', 'X')
b_surprise = rospy.get_param('~b_surprise', 'Y')
self.max_neck_degrees = rospy.get_param('~max_neck_degrees', 60)
self.max_emotion_intensity = rospy.get_param('~max_emotion_intensity',
3)
self.min_emotion_intensity = rospy.get_param('~min_emotion_intensity',
1)
# convert to ids
key_mapper = xbox.KeyMapper()
self.b_idx_pause = key_mapper.get_button_id(self.b_pause)
self.a_idx_neck_sides = key_mapper.get_axis_id(a_neck_sides)
self.a_idx_neck_front = key_mapper.get_axis_id(a_neck_front)
self.b_idx_neck_actuate = key_mapper.get_button_id(b_neck_actuate)
self.b_idx_increment = key_mapper.get_button_id(b_increment)
self.b_idx_decrement = key_mapper.get_button_id(b_decrement)
self.b_idx_happy = key_mapper.get_button_id(b_happy)
self.b_idx_angry = key_mapper.get_button_id(b_angry)
self.b_idx_sad = key_mapper.get_button_id(b_sad)
self.b_idx_surprise = key_mapper.get_button_id(b_surprise)
# check
self.assert_params()
# control
self.is_paused = False
self.emotion_intensity = self.min_emotion_intensity
# ready to work
rospy.Subscriber('joy', Joy, self.callback, queue_size=1)
rospy.loginfo('Joystick for head is ready')
def __init__(self):
rospy.loginfo('Joystick proxy init ...')
# control
# default: active on channel 0
self.current_channel_name = 'base'
# load params
self.proxy_button = rospy.get_param('~b_proxy', 'BACK')
self.channels = rospy.get_param(
'~channels', {'base': {
'button': 'A',
'topic': 'base'
}})
self.default_channel = rospy.get_param('~default_channel', 'base')
# check params
if not self.params_are_valid():
sys.exit(1)
# map ids and map button names to button ids
key_mapper = xbox.KeyMapper()
self.proxy_button_id = key_mapper.get_button_id(self.proxy_button)
for channel_name, channel in self.channels.items():
button = self.channels[channel_name]['button']
topic = self.channels[channel_name]['topic']
self.channels[channel_name]["id"] = key_mapper.get_button_id(
button)
self.channels[channel_name]["publisher"] = rospy.Publisher(
topic, Joy, queue_size=10)
# enable channel
self.enable_channel(self.default_channel)
# ready to work
rospy.Subscriber('joy', Joy, self.callback)
rospy.loginfo('Joystick proxy is ready')