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r2mover.py
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r2mover.py
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# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# adapted from https://github.com/Shashika007/teleop_twist_keyboard_ros2/blob/foxy/teleop_twist_keyboard_trio/teleop_keyboard.py
import rclpy
from rclpy.node import Node
import geometry_msgs.msg
# constants
rotatechange = 0.1
speedchange = 0.05
class Mover(Node):
def __init__(self):
super().__init__('mover')
self.publisher_ = self.create_publisher(geometry_msgs.msg.Twist,'cmd_vel',10)
# function to read keyboard input
def readKey(self):
twist = geometry_msgs.msg.Twist()
try:
while True:
# get keyboard input
cmd_char = str(input("Keys w/x a/d s: "))
# check which key was entered
if cmd_char == 's':
# stop moving
twist.linear.x = 0.0
twist.angular.z = 0.0
elif cmd_char == 'w':
# move forward
twist.linear.x += speedchange
twist.angular.z = 0.0
elif cmd_char == 'x':
# move backward
twist.linear.x -= speedchange
twist.angular.z = 0.0
elif cmd_char == 'a':
# turn counter-clockwise
twist.linear.x = 0.0
twist.angular.z += rotatechange
elif cmd_char == 'd':
# turn clockwise
twist.linear.x = 0.0
twist.angular.z -= rotatechange
# start the movement
self.publisher_.publish(twist)
except Exception as e:
print(e)
# Ctrl-c detected
finally:
# stop moving
twist.linear.x = 0.0
twist.angular.z = 0.0
self.publisher_.publish(twist)
def main(args=None):
rclpy.init(args=args)
mover = Mover()
mover.readKey()
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
mover.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()