ellensohn/rmp220_teleop_backup
Archived
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update: enable/disable button

Browse Source
This commit is contained in:
Björn Ellensohn 2023-04-18 11:34:11 +02:00
parent b6c3e18b0d
commit 33a99d98c3
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
rmp220_teleop/rmp220_teleop.py
View File

@ -13,10 +13,17 @@ class TeleopTwistJoy(Node):
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) self.timer = self.create_timer(0.01, self.timer_callback)
self.twist = Twist() self.twist = Twist()
self.enable = False
def joy_callback(self, joy_msg): def joy_callback(self, joy_msg):
self.twist.linear.x = 1 * joy_msg.axes[1] self.twist.linear.x = 1 * joy_msg.axes[1]
self.twist.angular.z = 1.0 * joy_msg.axes[0] self.twist.angular.z = 1.0 * joy_msg.axes[0]
if joy_msg.buttons[8]:
self.enable = True
enable_chassis()
if joy_msg.buttons[4]:
self.enable = False
disable_chassis()
def timer_callback(self): def timer_callback(self):
self.cmd_vel_pub.publish(self.twist) self.cmd_vel_pub.publish(self.twist)