76 lines
2.5 KiB
Python
76 lines
2.5 KiB
Python
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()
|
|
self.enable = False
|
|
self.limit = 0.5
|
|
|
|
def joy_callback(self, joy_msg):
|
|
if joy_msg.buttons[4]: #lb
|
|
self.limit -= 0.1
|
|
if self.limit < 0.2:
|
|
self.limit = 0.2
|
|
if joy_msg.buttons[5]: #rb
|
|
self.limit += 0.1
|
|
if self.limit > 3:
|
|
self.limit = 3
|
|
self.twist.linear.x = self.limit * joy_msg.axes[1]
|
|
self.twist.angular.z = self.limit *2 * joy_msg.axes[0]
|
|
if joy_msg.buttons[7]: #start
|
|
self.enable = True
|
|
enable_chassis(self)
|
|
if joy_msg.buttons[6]: #back
|
|
self.enable = False
|
|
disable_chassis(self)
|
|
|
|
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()
|