pedal_mode_switcher.py
Go to the documentation of this file.00001 #! /usr/bin/env python 00002 # Copyright (c) 2009, Willow Garage, Inc. 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above copyright 00011 # notice, this list of conditions and the following disclaimer in the 00012 # documentation and/or other materials provided with the distribution. 00013 # * Neither the name of the Willow Garage, Inc. nor the names of its 00014 # contributors may be used to endorse or promote products derived from 00015 # this software without specific prior written permission. 00016 # 00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 # POSSIBILITY OF SUCH DAMAGE. 00028 00029 00030 import roslib 00031 roslib.load_manifest('teleop_microscribe') 00032 import rospy 00033 from joy.msg import * 00034 from pr2_controllers_msgs.msg import * 00035 from trajectory_msgs.msg import * 00036 from pr2_cockpit_msgs.srv import * 00037 00038 rospy.init_node('pedal_mode_switcher') 00039 00040 HEAD_PEDALS = 'head_pedals' 00041 DRIVE_PEDALS = 'drive_pedals' 00042 00043 enabled = [HEAD_PEDALS] 00044 all = {} 00045 00046 def send(): 00047 global all, enabled 00048 for k, v in all.items(): 00049 req = k in enabled 00050 print "Setting", k, "to", req 00051 try: 00052 v.call(req) 00053 except rospy.ServiceException, ex: 00054 print ex 00055 00056 def pedal_cb(msg): 00057 global enabled 00058 if msg.buttons[0]: 00059 enabled = [HEAD_PEDALS] 00060 elif msg.buttons[1]: 00061 enabled = [DRIVE_PEDALS] 00062 00063 print "Enabled:", enabled 00064 send() 00065 00066 def setup(): 00067 global all, enabled 00068 all[HEAD_PEDALS] = rospy.ServiceProxy('/head_pedals/enable', Enable) 00069 all[DRIVE_PEDALS] = rospy.ServiceProxy('/teleop_base_pedals/enable', Enable) 00070 rospy.Subscriber('/l_pedals/joy', Joy, pedal_cb) 00071 send() 00072 00073 def main(): 00074 rate = rospy.Rate(1.0) 00075 setup() 00076 while not rospy.is_shutdown(): 00077 send() 00078 rate.sleep() 00079 00080 00081 if __name__ == '__main__': 00082 main()