ellensohn/rmp220_teleop
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switched to different style: ditching timer

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This commit is contained in:
Björn Ellensohn 2023-07-25 13:00:05 +02:00
parent 6361e36d44
commit 88c22fc719
1 changed files with 3 additions and 4 deletions
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7
rmp220_teleop/rmp220_teleop.py
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@ -9,7 +9,6 @@ class TeleopTwistJoy(Node):
super().__init__('teleop_twist_joy') super().__init__('teleop_twist_joy')
self.cmd_vel_pub = self.create_publisher(Twist, '/diffbot_base_controller/cmd_vel_unstamped', 10) self.cmd_vel_pub = self.create_publisher(Twist, '/diffbot_base_controller/cmd_vel_unstamped', 10)
self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10) self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10)
self.timer = self.create_timer(0.01, self.timer_callback) # 100 Hz
self.twist = Twist() self.twist = Twist()
self.vFactor = 1 # if compensation is needed. Not needed anymore for bot_mini self.vFactor = 1 # if compensation is needed. Not needed anymore for bot_mini
self.limit = 1 * self.vFactor self.limit = 1 * self.vFactor
@ -27,8 +26,9 @@ class TeleopTwistJoy(Node):
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] * 1 * 3.141592 self.twist.angular.z = self.limit * joy_msg.axes[0] * 1 * 3.141592
def timer_callback(self): # Publish the twist message only when joystick keys are pressed
self.cmd_vel_pub.publish(self.twist) if joy_msg.buttons[4] or joy_msg.buttons[5] or joy_msg.axes[1] != 0.0 or joy_msg.axes[0] != 0.0:
self.cmd_vel_pub.publish(self.twist)
def main(args=None): def main(args=None):
@ -39,7 +39,6 @@ def main(args=None):
except KeyboardInterrupt: except KeyboardInterrupt:
teleop_twist_joy.destroy_node() teleop_twist_joy.destroy_node()
rclpy.shutdown() rclpy.shutdown()
if __name__ == '__main__': if __name__ == '__main__':
main() main()