turtle_teleop_joy.py
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00001 #!/usr/bin/env python                                                                                        
00002 # Software License Agreement (BSD License)                                                                   
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00034 # Author Melonee Wise 
00035 
00036 import roslib; roslib.load_manifest('turtle_teleop')
00037 import rospy
00038 import turtlesim 
00039 import sensor_msgs
00040 
00041 
00042 def joy_cb(joy):
00043   vel = turtlesim.msg.Velocity()
00044   vel.angular = a_scale*joy.axes[angular];
00045   vel.linear = l_scale*joy.axes[linear];
00046   pub.publish(vel);
00047 
00048 if __name__ == '__main__':
00049 
00050   name ='turtle_teleop'
00051   rospy.init_node(name)
00052 
00053   linear = rospy.get_param('axis_linear', 1)
00054   angular = rospy.get_param('axis_angular', 2)
00055   l_scale = rospy.get_param('scale_linear', 50.0)
00056   a_scale = rospy.get_param('scale_angular', 2.0)
00057   
00058   sub = rospy.Subscriber("joy", sensor_msgs.msg.Joy, joy_cb)
00059   pub = rospy.Publisher("turtle1/command_velocity", turtlesim.msg.Velocity)
00060 
00061   rospy.spin()


turtle_teleop
Author(s): Melonee Wise
autogenerated on Sat Dec 28 2013 17:06:34