74 lines
2.5 KiB
Python
74 lines
2.5 KiB
Python
import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import Joy
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from geometry_msgs.msg import Twist
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from segway_msgs.srv import RosSetChassisEnableCmd
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class TeleopTwistJoy(Node):
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def __init__(self):
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super().__init__('teleop_twist_joy')
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self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
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self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10)
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self.timer = self.create_timer(0.01, self.timer_callback)
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self.twist = Twist()
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self.enable = False
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def joy_callback(self, joy_msg):
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if joy_msg.buttons[4]: #lb
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self.twist.linear.x = 0.5 * joy_msg.axes[1]
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self.twist.angular.z = 0.5 * joy_msg.axes[0]
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elif joy_msg.buttons[5]: #rb
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self.twist.linear.x = 3 * joy_msg.axes[1]
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self.twist.angular.z = 1.5 * joy_msg.axes[0]
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else:
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self.twist.linear.x = 1 * joy_msg.axes[1]
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self.twist.angular.z = 1.0 * joy_msg.axes[0]
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if joy_msg.buttons[7]: #start
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self.enable = True
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enable_chassis(self)
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if joy_msg.buttons[6]: #back
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self.enable = False
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disable_chassis(self)
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def timer_callback(self):
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self.cmd_vel_pub.publish(self.twist)
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def enable_chassis(node):
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chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
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req = RosSetChassisEnableCmd.Request()
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req.ros_set_chassis_enable_cmd = True
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while not chassis_enable.wait_for_service(timeout_sec=1.0):
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print('Service not available, waiting again...')
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chassis_enable.call_async(req)
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def disable_chassis(node):
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chassis_disable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
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req = RosSetChassisEnableCmd.Request()
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req.ros_set_chassis_enable_cmd = False
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while not chassis_disable.wait_for_service(timeout_sec=1.0):
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print('Service not available, waiting again...')
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chassis_disable.call_async(req)
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def main(args=None):
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rclpy.init(args=args)
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try:
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teleop_twist_joy = TeleopTwistJoy()
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enable_chassis(teleop_twist_joy) # Call the function to enable the chassis
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rclpy.spin(teleop_twist_joy)
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except KeyboardInterrupt:
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disable_chassis(teleop_twist_joy) # chassis disable for safe close
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req = RosSetChassisEnableCmd.Request()
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req.ros_set_chassis_enable_cmd = False
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#rclpy.spin_until_future_complete(teleop_twist_joy, future)
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finally:
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teleop_twist_joy.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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