pr2_drive_restart.py
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00001 #! /usr/bin/env python
00002 #
00003 # Copyright (c) 2010, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
00008 #
00009 #     * Redistributions of source code must retain the above copyright
00010 #       notice, this list of conditions and the following disclaimer.
00011 #     * Redistributions in binary form must reproduce the above copyright
00012 #       notice, this list of conditions and the following disclaimer in the
00013 #       documentation and/or other materials provided with the distribution.
00014 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00015 #       contributors may be used to endorse or promote products derived from
00016 #       this software without specific prior written permission.
00017 #
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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00023 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00027 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028 # POSSIBILITY OF SUCH DAMAGE.
00029 
00030 ##\author Kevin Watts
00031 ##\brief Restarts base driving when joy button is called
00032 
00033 PKG = 'life_test'
00034 
00035 import roslib; roslib.load_manifest(PKG)
00036 import rospy
00037 from joy.msg import Joy
00038 from std_srvs.srv import Empty
00039 
00040 # Joy buttons. R2 is resume
00041 DEADMAN = 10
00042 RESUME = 9
00043 
00044 _start_driving = rospy.ServiceProxy('reset_test', Empty)
00045 
00046 last_restart = 0
00047 
00048 def start_driving():
00049     global last_restart
00050     if rospy.get_time() - last_restart < 0.5:
00051         return
00052 
00053     last_restart = rospy.get_time()
00054 
00055     try:
00056         _start_driving()
00057         rospy.loginfo('Restarted drive command')
00058         return True
00059     except Exception, e:
00060         rospy.logwarn('Unable to restart driving. Service may be unavailable')
00061         return False
00062 
00063 def joy_cb(msg):
00064     if len(msg.buttons) < DEADMAN + 1 or len(msg.buttons) < RESUME + 1:
00065         return
00066 
00067     if msg.buttons[DEADMAN] == 0 and msg.buttons[RESUME] == 1:
00068         start_driving()
00069 
00070 
00071 
00072 if __name__ == '__main__':
00073     rospy.init_node('pr2_drive_restart')
00074     
00075     joy_sub = rospy.Subscriber('joy', Joy, joy_cb)
00076 
00077     rospy.spin()


life_test
Author(s): Kevin Watts
autogenerated on Sat Dec 28 2013 17:56:37