initial commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(rmp220_teleop)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(segway_msgs REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  rmp220_teleop/rmp220_teleop.py
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmp220_teleop</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="bjoern.ellensohn@gmail.com">bjorn</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>segway_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rmp220_teleop/rmp220_teleop.py

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+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Joy
+from geometry_msgs.msg import Twist
+from segway_msgs.srv import RosSetChassisEnableCmd
+
+
+class TeleopTwistJoy(Node):
+
+    def __init__(self):
+        super().__init__('teleop_twist_joy')
+        self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10)
+        self.timer = self.create_timer(0.01, self.timer_callback)
+        self.twist = Twist()
+
+    def joy_callback(self, joy_msg):
+        self.twist.linear.x = 1 * joy_msg.axes[1]
+        self.twist.angular.z = 1.0 * joy_msg.axes[0]
+
+    def timer_callback(self):
+        self.cmd_vel_pub.publish(self.twist)
+
+
+def enable_chassis(node):
+    chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
+    req = RosSetChassisEnableCmd.Request()
+    req.ros_set_chassis_enable_cmd = True
+    while not chassis_enable.wait_for_service(timeout_sec=1.0):
+        print('Service not available, waiting again...')
+    chassis_enable.call_async(req)
+
+def disable_chassis(node):
+    chassis_disable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
+    req = RosSetChassisEnableCmd.Request()
+    req.ros_set_chassis_enable_cmd = False
+    while not chassis_disable.wait_for_service(timeout_sec=1.0):
+        print('Service not available, waiting again...')
+    chassis_disable.call_async(req)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    try:
+        teleop_twist_joy = TeleopTwistJoy()
+        enable_chassis(teleop_twist_joy)  # Call the function to enable the chassis
+        rclpy.spin(teleop_twist_joy)
+    except KeyboardInterrupt:
+        disable_chassis(teleop_twist_joy) # chassis disable for safe close
+        req = RosSetChassisEnableCmd.Request()
+        req.ros_set_chassis_enable_cmd = False
+        #rclpy.spin_until_future_complete(teleop_twist_joy, future)
+    finally:
+        teleop_twist_joy.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

setup.cfg

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+[develop]
+script_dir=$base/lib/rmp220_teleop
+[install]
+install_scripts=$base/lib/rmp220_teleop

setup.py

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+from setuptools import setup
+
+package_name = 'rmp220_teleop'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='bjorn',
+    maintainer_email='bjoern.ellensohn@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'