teleop_pr2_keyboard.cpp
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00001 /*
00002  * teleop_pr2_keyboard
00003  * Copyright (c) 2008, 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 <ORGANIZATION> 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
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 // Author: Kevin Watts
00032 
00033 #include <termios.h>
00034 #include <signal.h>
00035 #include <math.h>
00036 #include <stdio.h>
00037 #include <stdlib.h>
00038 
00039 #include <ros/ros.h>
00040 #include <geometry_msgs/Twist.h>
00041 
00042 #define KEYCODE_A 0x61
00043 #define KEYCODE_D 0x64
00044 #define KEYCODE_S 0x73
00045 #define KEYCODE_W 0x77 
00046 #define KEYCODE_Q 0x71
00047 #define KEYCODE_E 0x65
00048 
00049 #define KEYCODE_A_CAP 0x41
00050 #define KEYCODE_D_CAP 0x44
00051 #define KEYCODE_S_CAP 0x53
00052 #define KEYCODE_W_CAP 0x57
00053 #define KEYCODE_Q_CAP 0x51
00054 #define KEYCODE_E_CAP 0x45
00055 
00056 class TeleopPR2Keyboard
00057 {
00058   private:
00059   double walk_vel, run_vel, yaw_rate, yaw_rate_run;
00060   geometry_msgs::Twist cmd;
00061 
00062   ros::NodeHandle n_;
00063   ros::Publisher vel_pub_;
00064 
00065   public:
00066   void init()
00067   { 
00068     cmd.linear.x = cmd.linear.y = cmd.angular.z = 0;
00069 
00070     vel_pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);
00071 
00072     ros::NodeHandle n_private("~");
00073     n_private.param("walk_vel", walk_vel, 0.5);
00074     n_private.param("run_vel", run_vel, 1.0);
00075     n_private.param("yaw_rate", yaw_rate, 1.0);
00076     n_private.param("yaw_run_rate", yaw_rate_run, 1.5);
00077 
00078   }
00079   
00080   ~TeleopPR2Keyboard()   { }
00081   void keyboardLoop();
00082 
00083 };
00084 
00085 int kfd = 0;
00086 struct termios cooked, raw;
00087 
00088 void quit(int sig)
00089 {
00090   tcsetattr(kfd, TCSANOW, &cooked);
00091   exit(0);
00092 }
00093 
00094 int main(int argc, char** argv)
00095 {
00096   ros::init(argc, argv, "pr2_base_keyboard");
00097 
00098   TeleopPR2Keyboard tpk;
00099   tpk.init();
00100 
00101   signal(SIGINT,quit);
00102 
00103   tpk.keyboardLoop();
00104 
00105   return(0);
00106 }
00107 
00108 void TeleopPR2Keyboard::keyboardLoop()
00109 {
00110   char c;
00111   bool dirty=false;
00112 
00113   // get the console in raw mode
00114   tcgetattr(kfd, &cooked);
00115   memcpy(&raw, &cooked, sizeof(struct termios));
00116   raw.c_lflag &=~ (ICANON | ECHO);
00117   // Setting a new line, then end of file
00118   raw.c_cc[VEOL] = 1;
00119   raw.c_cc[VEOF] = 2;
00120   tcsetattr(kfd, TCSANOW, &raw);
00121 
00122   puts("Reading from keyboard");
00123   puts("---------------------------");
00124   puts("Use 'WASD' to translate");
00125   puts("Use 'QE' to yaw");
00126   puts("Press 'Shift' to run");
00127 
00128 
00129   for(;;)
00130   {
00131     // get the next event from the keyboard
00132     if(read(kfd, &c, 1) < 0)
00133     {
00134       perror("read():");
00135       exit(-1);
00136     }
00137 
00138     cmd.linear.x = cmd.linear.y = cmd.angular.z = 0;
00139 
00140     switch(c)
00141     {
00142       // Walking
00143     case KEYCODE_W:
00144       cmd.linear.x = walk_vel;
00145       dirty = true;
00146       break;
00147     case KEYCODE_S:
00148       cmd.linear.x = - walk_vel;
00149       dirty = true;
00150       break;
00151     case KEYCODE_A:
00152       cmd.linear.y = walk_vel;
00153       dirty = true;
00154       break;
00155     case KEYCODE_D:
00156       cmd.linear.y = - walk_vel;
00157       dirty = true;
00158       break;
00159     case KEYCODE_Q:
00160       cmd.angular.z = yaw_rate;
00161       dirty = true;
00162       break;
00163     case KEYCODE_E:
00164       cmd.angular.z = - yaw_rate;
00165       dirty = true;
00166       break;
00167 
00168       // Running 
00169     case KEYCODE_W_CAP:
00170       cmd.linear.x = run_vel;
00171       dirty = true;
00172       break;
00173     case KEYCODE_S_CAP:
00174       cmd.linear.x = - run_vel;
00175       dirty = true;
00176       break;
00177     case KEYCODE_A_CAP:
00178       cmd.linear.y = run_vel;
00179       dirty = true;
00180       break;
00181     case KEYCODE_D_CAP:
00182       cmd.linear.y = - run_vel;
00183       dirty = true;
00184       break;
00185     case KEYCODE_Q_CAP:
00186       cmd.angular.z = yaw_rate_run;
00187       dirty = true;
00188       break;
00189     case KEYCODE_E_CAP:
00190       cmd.angular.z = - yaw_rate_run;
00191       dirty = true;
00192       break;
00193     }
00194 
00195     
00196     if (dirty == true)
00197     {
00198       vel_pub_.publish(cmd);
00199     }
00200 
00201 
00202   }
00203 }


pr2_teleop
Author(s): Kevin Watts
autogenerated on Thu Nov 28 2013 11:37:55