turtle_teleop_joy.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 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()