ellensohn/rmp220_teleop
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Björn Ellensohn 2023-04-18 13:51:42 +02:00
parent 192c685b29
commit ef964834fa
1 changed files with 5 additions and 7 deletions
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12
rmp220_teleop/rmp220_teleop.py
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@ -14,17 +14,15 @@ class TeleopTwistJoy(Node):
self.timer = self.create_timer(0.01, self.timer_callback) self.timer = self.create_timer(0.01, self.timer_callback)
self.twist = Twist() self.twist = Twist()
self.enable = False self.enable = False
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.twist.linear.x = 0.5 * joy_msg.axes[1] self.limit -= 0.5
self.twist.angular.z = 0.5 * joy_msg.axes[0]
elif joy_msg.buttons[5]: #rb elif joy_msg.buttons[5]: #rb
self.twist.linear.x = 3 * joy_msg.axes[1] self.limit += 0.5
self.twist.angular.z = 1.5 * joy_msg.axes[0] self.twist.linear.x = self.limit * joy_msg.axes[1]
else: self.twist.angular.z = self.limit * joy_msg.axes[0]
self.twist.linear.x = 1 * joy_msg.axes[1]
self.twist.angular.z = 1.0 * joy_msg.axes[0]
if joy_msg.buttons[7]: #start if joy_msg.buttons[7]: #start
self.enable = True self.enable = True
enable_chassis(self) enable_chassis(self)