ellensohn/rmp220_teleop
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Björn Ellensohn 2023-04-18 14:01:28 +02:00
parent 40028c5f7e
commit 184ab19119
1 changed files with 16 additions and 4 deletions
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20
rmp220_teleop/rmp220_teleop.py
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@ -17,10 +17,14 @@ class TeleopTwistJoy(Node):
self.limit = 0.5 self.limit = 0.5
def joy_callback(self, joy_msg): def joy_callback(self, joy_msg):
if joy_msg.buttons[4]: #lb # if joy_msg.buttons[4]: #lb
self.limit -= 0.5 # self.limit -= 0.5
if joy_msg.buttons[5]: #rb # if self.limit < 0.2:
self.limit += 0.5 # self.limit = 0.2
# if joy_msg.buttons[5]: #rb
# self.limit += 0.5
# if self.limit > 3:
# self.limit = 3
self.twist.linear.x = self.limit * joy_msg.axes[1] self.twist.linear.x = self.limit * joy_msg.axes[1]
self.twist.angular.z = self.limit * joy_msg.axes[0] self.twist.angular.z = self.limit * joy_msg.axes[0]
if joy_msg.buttons[7]: #start if joy_msg.buttons[7]: #start
@ -57,6 +61,14 @@ def main(args=None):
teleop_twist_joy = TeleopTwistJoy() teleop_twist_joy = TeleopTwistJoy()
enable_chassis(teleop_twist_joy) # Call the function to enable the chassis enable_chassis(teleop_twist_joy) # Call the function to enable the chassis
rclpy.spin(teleop_twist_joy) rclpy.spin(teleop_twist_joy)
if joy_msg.buttons[4]: #lb
self.limit -= 0.5
if self.limit < 0.2:
self.limit = 0.2
if joy_msg.buttons[5]: #rb
self.limit += 0.5
if self.limit > 3:
self.limit = 3
except KeyboardInterrupt: except KeyboardInterrupt:
disable_chassis(teleop_twist_joy) # chassis disable for safe close disable_chassis(teleop_twist_joy) # chassis disable for safe close
req = RosSetChassisEnableCmd.Request() req = RosSetChassisEnableCmd.Request()