ellensohn/rmp220_teleop_backup
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update: velocity selection, button mapping

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This commit is contained in:
Björn Ellensohn 2023-04-18 13:43:04 +02:00
parent 248356ba21
commit 192c685b29
1 changed files with 11 additions and 4 deletions
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15
rmp220_teleop/rmp220_teleop.py
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@ -16,12 +16,19 @@ class TeleopTwistJoy(Node):
self.enable = False self.enable = False
def joy_callback(self, joy_msg): def joy_callback(self, joy_msg):
self.twist.linear.x = 1 * joy_msg.axes[1] if joy_msg.buttons[4]: #lb
self.twist.angular.z = 1.0 * joy_msg.axes[0] self.twist.linear.x = 0.5 * joy_msg.axes[1]
if joy_msg.buttons[7]: self.twist.angular.z = 0.5 * joy_msg.axes[0]
elif joy_msg.buttons[5]: #rb
self.twist.linear.x = 3 * joy_msg.axes[1]
self.twist.angular.z = 1.5 * joy_msg.axes[0]
else:
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
self.enable = True self.enable = True
enable_chassis(self) enable_chassis(self)
if joy_msg.buttons[6]: if joy_msg.buttons[6]: #back
self.enable = False self.enable = False
disable_chassis(self) disable_chassis(self)