keyboard_teleop Namespace Reference

Functions
def	getKey ()
def	vels (speed, turn)

Variables
	key = getKey()
dictionary	moveBindings
string	msg
	pub = rospy.Publisher('/cmd_vel_mux/input/teleop', Twist, queue_size = 1)
	settings = termios.tcgetattr(sys.stdin)
	speed = rospy.get_param("~speed", 0.5)
dictionary	speedBindings
int	status = 0
int	th = 0
	turn = rospy.get_param("~turn", 1.0)
	twist = Twist()
int	x = 0
int	y = 0
int	z = 0

Function Documentation

def keyboard_teleop.getKey

(

)

Definition at line 61 of file keyboard_teleop.py.

def keyboard_teleop.vels	(		speed,
			turn
	)

Definition at line 69 of file keyboard_teleop.py.

Variable Documentation

keyboard_teleop.key = getKey()

Definition at line 90 of file keyboard_teleop.py.

dictionary keyboard_teleop.moveBindings

Initial value:

= {
                'i':(1,0,0,0),
                'o':(1,0,0,-1),
                'j':(0,0,0,1),
                'l':(0,0,0,-1),
                'u':(1,0,0,1),
                ',':(-1,0,0,0),
                '.':(-1,0,0,1),
                'm':(-1,0,0,-1),
                'O':(1,-1,0,0),
                'I':(1,0,0,0),
                'J':(0,1,0,0),
                'L':(0,-1,0,0),
                'U':(1,1,0,0),
                '<':(-1,0,0,0),
                '>':(-1,-1,0,0),
                'M':(-1,1,0,0),
                't':(0,0,1,0),
                'b':(0,0,-1,0),
               }

Definition at line 31 of file keyboard_teleop.py.

string keyboard_teleop.msg

Initial value:

= """
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
"""

Definition at line 10 of file keyboard_teleop.py.

keyboard_teleop.pub = rospy.Publisher('/cmd_vel_mux/input/teleop', Twist, queue_size = 1)

Definition at line 75 of file keyboard_teleop.py.

keyboard_teleop.settings = termios.tcgetattr(sys.stdin)

Definition at line 73 of file keyboard_teleop.py.

keyboard_teleop.speed = rospy.get_param("~speed", 0.5)

Definition at line 78 of file keyboard_teleop.py.

dictionary keyboard_teleop.speedBindings

Initial value:

= {
                'q':(1.1,1.1),
                'z':(.9,.9),
                'w':(1.1,1),
                'x':(.9,1),
                'e':(1,1.1),
                'c':(1,.9),
              }

Definition at line 52 of file keyboard_teleop.py.

int keyboard_teleop.status = 0

Definition at line 84 of file keyboard_teleop.py.

int keyboard_teleop.th = 0

Definition at line 83 of file keyboard_teleop.py.

keyboard_teleop.turn = rospy.get_param("~turn", 1.0)

Definition at line 79 of file keyboard_teleop.py.

keyboard_teleop.twist = Twist()

Definition at line 112 of file keyboard_teleop.py.

int keyboard_teleop.x = 0

Definition at line 80 of file keyboard_teleop.py.

int keyboard_teleop.y = 0

Definition at line 81 of file keyboard_teleop.py.

int keyboard_teleop.z = 0

Definition at line 82 of file keyboard_teleop.py.