drone_teleop.py

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#!/usr/bin/env python

'''
BSD 2-Clause License

Copyright (c) 2019, Simranjeet Singh
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''

import rospy
from edrone_client.msg import *

from geometry_msgs.msg import Twist

import sys, select, termios, tty

msg = """
Control Your eDrone!
---------------------------
Moving around:
   u    i    o
   j    k    l
        m     


a : Arm drone
d : Dis-arm drone
w : Increase Altitude
s : Increase Altitude
u,o: Change Yaw

CTRL-C to quit
"""

KeyBinding = {
       #key:(roll,pitch,yaw,throt,aux1,aux2,aux3,aux4)
        'i':(1500,1900,1500,1500,1500,1500,1500,1500),
        'a':(1500,1500,1500,1000,1500,1500,1500,1500),
        'j':(1900,1500,1500,1500,1500,1500,1500,1500),
        'l':(1100,1500,1500,1500,1500,1500,1500,1500),
        'd':(1500,1500,1500,1300,1500,1500,1500,1200),
        'm':(1500,1100,1500,1500,1500,1500,1500,1500),
        'w':(1500,1500,1500,1900,1500,1500,1500,1500),
        's':(1500,1500,1500,1100,1500,1500,1500,1500),
        'o':(1500,1500,1600,1900,1500,1500,1500,1500),
        'u':(1500,1500,1400,1100,1500,1500,1500,1500),
           }

def getKey():
    tty.setraw(sys.stdin.fileno())
    rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
    if rlist:
        key = sys.stdin.read(1)
    else:
        key = ''

    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    return key

speed = .2
turn = 1

def vels(speed,turn):
    return "currently:\tspeed %s\tturn %s " % (speed,turn)

if __name__=="__main__":
    settings = termios.tcgetattr(sys.stdin)
    
    rospy.init_node('eDrone_teleop')
    pub = rospy.Publisher('/drone_command', edrone_msgs, queue_size=5)

    roll = 1500
    pitch = 1500
    yaw = 1500
    throttle = 1500
    aux1=1500
    aux2=1500
    aux3=1500
    aux4=1500
    count =0

    try:
        print(msg)
        while(1):
            key = getKey()
            if key in KeyBinding.keys():
                roll = KeyBinding[key][0]
                pitch = KeyBinding[key][1]
                yaw = KeyBinding[key][2]
                throttle = KeyBinding[key][3]
                aux1=KeyBinding[key][4]
                aux2=KeyBinding[key][5]
                aux3=KeyBinding[key][6]
                aux4=KeyBinding[key][7]
                count = 0
            if (key == '\x03'):
                break
            else:
                count = count + 1
                if count > 4:
                    roll = 1500
                    pitch = 1500
                    yaw = 1500
                    throttle = 1500
                    aux1=1500
                    aux2=1500
                    aux3=1500
                    aux4=1500

            cmd = edrone_msgs()
            cmd.rcRoll = roll; cmd.rcPitch = pitch; cmd.rcYaw = yaw
            cmd.rcThrottle = throttle; cmd.rcAUX1 = aux1; cmd.rcAUX2 = aux2
            cmd.rcAUX3 = aux3; cmd.rcAUX4 = aux4
            pub.publish(cmd)

    except Exception as e:
        print(e)

    finally:
        cmd = edrone_msgs()
        cmd.rcRoll = roll; cmd.rcPitch = pitch; cmd.rcYaw = yaw
        cmd.rcThrottle = throttle; cmd.rcAUX1 = aux1; cmd.rcAUX2 = aux2
        cmd.rcAUX3 = aux3; cmd.rcAUX4 = aux4
        pub.publish(cmd)

    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)