teleop_twist_keyboard Namespace Reference

Classes
class	PublishThread

Functions
def	getKey (settings, timeout)
def	restoreTerminalSettings (old_settings)
def	saveTerminalSettings ()
def	vels (speed, turn)

Variables
def	key = getKey(settings, key_timeout)
	key_timeout = rospy.get_param("~key_timeout", 0.5)
dictionary	moveBindings
string	msg
	pub_thread = PublishThread(repeat)
	repeat = rospy.get_param("~repeat_rate", 0.0)
def	settings = saveTerminalSettings()
	speed = rospy.get_param("~speed", 0.5)
	speed_limit = rospy.get_param("~speed_limit", 1000)
dictionary	speedBindings
	stamped = rospy.get_param("~stamped", False)
int	status = 0
int	th = 0
	turn = rospy.get_param("~turn", 1.0)
	turn_limit = rospy.get_param("~turn_limit", 1000)
	twist_frame = rospy.get_param("~frame_id", '')
	TwistMsg = Twist
int	x = 0
int	y = 0
int	z = 0

Function Documentation

getKey()

def teleop_twist_keyboard.getKey	(		settings,
			timeout
	)

Definition at line 170 of file teleop_twist_keyboard.py.

restoreTerminalSettings()

def teleop_twist_keyboard.restoreTerminalSettings

(

old_settings

)

Definition at line 190 of file teleop_twist_keyboard.py.

saveTerminalSettings()

def teleop_twist_keyboard.saveTerminalSettings

(

)

Definition at line 185 of file teleop_twist_keyboard.py.

vels()

def teleop_twist_keyboard.vels	(		speed,
			turn
	)

Definition at line 195 of file teleop_twist_keyboard.py.

Variable Documentation

key

def teleop_twist_keyboard.key = getKey(settings, key_timeout)

Definition at line 229 of file teleop_twist_keyboard.py.

key_timeout

teleop_twist_keyboard.key_timeout = rospy.get_param("~key_timeout", 0.5)

Definition at line 208 of file teleop_twist_keyboard.py.

moveBindings

dictionary teleop_twist_keyboard.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 51 of file teleop_twist_keyboard.py.

msg

string teleop_twist_keyboard.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 25 of file teleop_twist_keyboard.py.

pub_thread

teleop_twist_keyboard.pub_thread = PublishThread(repeat)

Definition at line 214 of file teleop_twist_keyboard.py.

repeat

teleop_twist_keyboard.repeat = rospy.get_param("~repeat_rate", 0.0)

Definition at line 207 of file teleop_twist_keyboard.py.

settings

def teleop_twist_keyboard.settings = saveTerminalSettings()

Definition at line 199 of file teleop_twist_keyboard.py.

speed

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

Definition at line 203 of file teleop_twist_keyboard.py.

speed_limit

teleop_twist_keyboard.speed_limit = rospy.get_param("~speed_limit", 1000)

Definition at line 205 of file teleop_twist_keyboard.py.

speedBindings

dictionary teleop_twist_keyboard.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 72 of file teleop_twist_keyboard.py.

stamped

teleop_twist_keyboard.stamped = rospy.get_param("~stamped", False)

Definition at line 209 of file teleop_twist_keyboard.py.

status

tuple teleop_twist_keyboard.status = 0

Definition at line 220 of file teleop_twist_keyboard.py.

th

int teleop_twist_keyboard.th = 0

Definition at line 219 of file teleop_twist_keyboard.py.

turn

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

Definition at line 204 of file teleop_twist_keyboard.py.

turn_limit

teleop_twist_keyboard.turn_limit = rospy.get_param("~turn_limit", 1000)

Definition at line 206 of file teleop_twist_keyboard.py.

twist_frame

teleop_twist_keyboard.twist_frame = rospy.get_param("~frame_id", '')

Definition at line 210 of file teleop_twist_keyboard.py.

TwistMsg

teleop_twist_keyboard.TwistMsg = Twist

Definition at line 23 of file teleop_twist_keyboard.py.

x

int teleop_twist_keyboard.x = 0

Definition at line 216 of file teleop_twist_keyboard.py.

y

int teleop_twist_keyboard.y = 0

Definition at line 217 of file teleop_twist_keyboard.py.

z

int teleop_twist_keyboard.z = 0

Definition at line 218 of file teleop_twist_keyboard.py.