Sameer Parekh
86 linhas
2.9 KiB
Python
Arquivo Executável
86 linhas
2.9 KiB
Python
Arquivo Executável
#!/usr/bin/env python
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# Copyright (c) 2012, Falkor Systems, Inc. All rights reserved.
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are
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# met:
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# Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer. Redistributions
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# in binary form must reproduce the above copyright notice, this list of
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# conditions and the following disclaimer in the documentation and/or
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# other materials provided with the distribution. THIS SOFTWARE IS
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# PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
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# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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import roslib
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roslib.load_manifest('falkor_ardrone')
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import rospy
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from geometry_msgs.msg import Twist
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from sensor_msgs.msg import Joy
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from std_msgs.msg import Empty
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from ardrone_autonomy.msg import Navdata
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import pid
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import time
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class ArdroneTeleopJoy:
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def __init__( self ):
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self.cmd_vel_pub = rospy.Publisher( "cmd_vel_interm", Twist )
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self.land_pub = rospy.Publisher( "ardrone/land", Empty )
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self.takeoff_pub = rospy.Publisher( "ardrone/takeoff", Empty )
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self.reset_pub = rospy.Publisher( "ardrone/reset", Empty )
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self.joy_sub = rospy.Subscriber( "joy", Joy, self.callback_joy )
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def callback_joy( self, data ):
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empty_msg = Empty()
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if data.buttons[12] == 1 and self.last_buttons[12] == 0:
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self.takeoff_pub.publish( empty_msg )
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self.pause = 5.0
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if data.buttons[14] == 1 and self.last_buttons[14] == 0:
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self.land_pub.publish( empty_msg )
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if data.buttons[13] == 1 and self.last_buttons[13] == 0:
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self.reset_pub.publish( empty_msg )
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self.last_buttons = data.buttons
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# Do cmd_vel
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cmd = Twist()
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cmd.angular.x = cmd.angular.y = 0
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cmd.angular.z = data.axes[2] * 3.14/2
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cmd.linear.z = data.axes[3] * 2.0
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cmd.linear.x = data.axes[1] * 1.0
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cmd.linear.y = data.axes[0] * 1.0
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self.cmd_vel_pub.publish( cmd )
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def main():
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rospy.init_node( 'ardrone_teleop_joy' )
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teleop = ArdroneTeleopJoy()
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try:
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rospy.spin()
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except KeyboardInterrupt:
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print "Shutting down"
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if __name__ == '__main__':
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main()
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