Feature/joy teleop #85
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…us publishing of command velocities
scripts/joystick_controls_node
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| if abs(mapping['right_stick_horizontal']) < 0.1 and abs(mapping['right_stick_vertical']) < 0.1 and abs(mapping['left_stick_horizontal']) < 0.1: | ||
| self.base_command = Twist() |
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vanwaar dit stuk? Je zou denken dat dit het logische resultaat van alles hierboven.
| self.base_command = Twist() | ||
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| def publish_controls(self): | ||
| self.base_pub.publish(self.base_command) |
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Zit hier geen risico in als er geen input meer komt. Gaat ie dan niet eindeloos doorrijden.
| } | ||
| self._send_controls(controller_mappings[self.controller_mode]) | ||
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| def get_gripper_state(self, state_msg): |
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Cant you take this from the robot object.
MatthijsBurgh
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| @@ -206,6 +206,9 @@ | |||
| <remap from="odom" to="base/measurements" /> | |||
| </node> | |||
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| <!-- Joystick controller --> | |||
| <include file="$(find hero_bringup)/launch/tools/joy_teleop.launch" /> | |||
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Only on the robot you want to launch this right?
| if state_msg.name[20] == 'hand_motor_joint': | ||
| if state_msg.position[20] > 0.6: |
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The joint could also be at another index. So find index of item in list.
| self.base_pub.publish(self.base_command) | ||
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| def map_joystick(self, joy_msg): | ||
| controller_mappings = {4: {'A': joy_msg.buttons[0], |
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Make this a class attribute, so it isn't generated every call
scripts/joystick_controls_node
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| """ | ||
| Subscribes to the Joy messages sent via the controller and the joy node and then transforms these to the desired behavior | ||
| """ | ||
| self.controller_mode = 4 |
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Also a class attribute, plus maybe add a short explanation.
scripts/joystick_controls_node
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| while not rospy.is_shutdown(): | ||
| self.publish_controls() | ||
| r.sleep() |
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This blocks the constructor
| if __name__ == "__main__": | ||
| rospy.init_node("joystick_controls_node") | ||
| ConversionNode = JoystickControls() | ||
| sys.exit(rospy.spin()) |
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This code is never reached as the constructor is blocking.
| from robot_skills.arm import arms | ||
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| class JoystickControls(object): |
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Maybe better to have the class definition in the library
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This PR should be merged after/together with tue-robotics/tue-env-targets#234. It is clear that the joy package is needed, so that needs to be installed on the machine that will run this code. It would be best to not include this in the package.xml as that would result in it being installed on all machines.
Plus as the ros-joy target is being changed. Please make clear which other packages are needed, if this is the case.
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…ngup into feature/joy_teleop
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I agree that it is an undesired dependency, but I don't think this should be a new repo. Having new repos for small features makes our codebase even less clear/organized. Do we have a different repo that suits this node? |
I disagree, mixing everything together that doesn't belong together does create a big mess in my opinion. Without creating one package with a lot of dependencies, small features do require a separate package. |
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What dependency? |
No description provided.