rviz_mouse_point_to_tablet.py

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#!/usr/bin/env python
 
import rospy
import numpy
from math import pi
from view_controller_msgs.msg import CameraPlacement
from geometry_msgs.msg import PointStamped
from jsk_gui_msgs.msg import Tablet
from threading import Lock
 
lock = Lock()
latest_mouse_point = None
 
def pointCallback(msg):
    global latest_mouse_point
    with lock:
        latest_mouse_point = msg
    
def timerCallback(event):
    global latest_mouse_point
    # print (latest_mouse_point and latest_mouse_point.point, 
    #        prev_mouse_point and prev_mouse_point.point)
    with lock:
        if not latest_mouse_point:
            return
        next_x = latest_mouse_point.point.x * 640
        next_y = latest_mouse_point.point.y * 480
        msg = Tablet()
        msg.header.stamp = rospy.Time.now()
        msg.action.task_name = "MoveCameraCenter"
        # chop
        msg.action.touch_x = next_x
        msg.action.touch_y = next_y
        rospy.loginfo("neck actino to (%f, %f)" % (msg.action.touch_x, msg.action.touch_y))
        pub.publish(msg)
        latest_mouse_point = None
 
        
if __name__ == "__main__":
    rospy.init_node("rviz_mouse_point_to_tablet")
    pub = rospy.Publisher("/Tablet/Command", Tablet)
    sub = rospy.Subscriber("/rviz/current_mouse_point", 
                           PointStamped, pointCallback)
    rospy.Timer(rospy.Duration(0.3), timerCallback)
    rospy.spin()