joy_rviz_view_controller.py
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00001 # joy_rviz_view_controller
00002 
00003 from jsk_teleop_joy.plugin.rviz_view_controller_singleton import RVizViewControllerManagerSingleton
00004 from jsk_teleop_joy.joy_plugin import JSKJoyPlugin
00005 
00006 import rospy
00007 
00008 class RVizViewController(JSKJoyPlugin):
00009   '''
00010 Usage:
00011 Right Analog x/y: yaw/pitch of camera position
00012 
00013 R3(Right Analog button): while holding down L3 button, buttons/sticks listed below work for RVizViewController
00014    L3: reset camera pose
00015    L1: set focus point to target pose of Pose6D
00016    Up/Down/Left/Right : move focus point x/y
00017    Left Analog y: move camera for eye direction (near/far)
00018    Left Analog x: move focus point for eye direction (near/far)
00019    R3 + L2 + R2: enable follow view mode
00020 
00021 Args:
00022 control_view [Boolean, default: True]: Use or not control rviz camera (this is for child class)
00023 
00024 Note: code of joyCB is implemented in rviz_view_controller_singleton.py
00025       Use TabletViewController(jsk_rviz_plugin) in rviz (selected at 'Views' Panel)
00026   '''
00027   def __init__(self, name, args):
00028     JSKJoyPlugin.__init__(self, name, args)
00029     self.control_view = self.getArg('control_view', True)
00030     if not self.control_view:
00031       rospy.loginfo("Not using rviz view control")
00032       RVizViewControllerManagerSingleton.camera_pub.unregister()
00033       RVizViewControllerManagerSingleton.camera_sub.unregister()
00034   def joyCB(self, status, history):
00035     RVizViewControllerManagerSingleton.joyCB(status, history, self.pre_pose)
00036   def supportFollowView(self, val):
00037     RVizViewControllerManagerSingleton.support_follow_view = val
00038   def followView(self, val=None):
00039     if val != None:
00040       RVizViewControllerManagerSingleton.follow_view = val
00041     return RVizViewControllerManagerSingleton.follow_view


jsk_teleop_joy
Author(s): Ryohei Ueda
autogenerated on Wed Jul 19 2017 02:54:50