teleop_twist_keyboard Namespace Reference

Classes
class	PublishThread

Functions
def	getKey (key_timeout)
def	vels (speed, turn)

Variables
	key = getKey(key_timeout)
	key_timeout = rospy.get_param("~key_timeout", 0.0)
dictionary	moveBindings
string	msg
	pub_thread = PublishThread(repeat)
	repeat = rospy.get_param("~repeat_rate", 0.0)
	settings = termios.tcgetattr(sys.stdin)
	speed = rospy.get_param("~speed", 0.5)
dictionary	speedBindings
int	status = 0
int	th = 0
	turn = rospy.get_param("~turn", 1.0)
int	x = 0
int	y = 0
int	z = 0

Function Documentation

def teleop_twist_keyboard.getKey

(

key_timeout

)

Definition at line 150 of file teleop_twist_keyboard.py.

def teleop_twist_keyboard.vels	(		speed,
			turn
	)

Definition at line 161 of file teleop_twist_keyboard.py.

Variable Documentation

teleop_twist_keyboard.key = getKey(key_timeout)

Definition at line 191 of file teleop_twist_keyboard.py.

teleop_twist_keyboard.key_timeout = rospy.get_param("~key_timeout", 0.0)

Definition at line 172 of file teleop_twist_keyboard.py.

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 40 of file teleop_twist_keyboard.py.

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 14 of file teleop_twist_keyboard.py.

teleop_twist_keyboard.pub_thread = PublishThread(repeat)

Definition at line 176 of file teleop_twist_keyboard.py.

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

Definition at line 171 of file teleop_twist_keyboard.py.

teleop_twist_keyboard.settings = termios.tcgetattr(sys.stdin)

Definition at line 165 of file teleop_twist_keyboard.py.

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

Definition at line 169 of file teleop_twist_keyboard.py.

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 61 of file teleop_twist_keyboard.py.

int teleop_twist_keyboard.status = 0

Definition at line 182 of file teleop_twist_keyboard.py.

int teleop_twist_keyboard.th = 0

Definition at line 181 of file teleop_twist_keyboard.py.

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

Definition at line 170 of file teleop_twist_keyboard.py.

int teleop_twist_keyboard.x = 0

Definition at line 178 of file teleop_twist_keyboard.py.

int teleop_twist_keyboard.y = 0

Definition at line 179 of file teleop_twist_keyboard.py.

int teleop_twist_keyboard.z = 0

Definition at line 180 of file teleop_twist_keyboard.py.