add teleop_twist_keyboard
This commit is contained in:
X-lanni
@@ -0,0 +1,66 @@
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2.4.0 (2024-03-08)
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------------------
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* Fixes for flake8. (`#29 <https://github.com/ros2/teleop_twist_keyboard/issues/29>`_)
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* Show command to change topic name on readme (`#27 <https://github.com/ros2/teleop_twist_keyboard/issues/27>`_)
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* Remove url for ros1 on package.xml (`#28 <https://github.com/ros2/teleop_twist_keyboard/issues/28>`_)
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* Added TwistStamped option (`#26 <https://github.com/ros2/teleop_twist_keyboard/issues/26>`_)
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* Switch to underscores for setup.cfg. (`#25 <https://github.com/ros2/teleop_twist_keyboard/issues/25>`_)
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* Contributors: Asuki Kono, Chris Lalancette, agyoungs
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2.3.2 (2020-05-12)
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------------------
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* Add Windows support to teleop_twist_keyboard. (`#24 <https://github.com/ros2/teleop_twist_keyboard/issues/24>`_)
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* Contributors: Chris Lalancette
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2.3.1 (2019-10-03)
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------------------
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* Stop using deprecated APIs. (`#22 <https://github.com/ros2/teleop_twist_keyboard/issues/22>`_)
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* Contributors: Chris Lalancette
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2.3.0 (2019-04-19)
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------------------
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* changing QoS to default (`#18 <https://github.com/ros2/teleop_twist_keyboard/issues/18>`_)
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* Contributors: thorstink
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2.1.1 (2018-06-26)
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------------------
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2.1.0 (2018-06-26)
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------------------
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* set zip_safe to avoid warning during installation (`#14 <https://github.com/ros2/teleop_twist_keyboard/issues/14>`_)
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* Update the maintainer to me. (`#13 <https://github.com/ros2/teleop_twist_keyboard/issues/13>`_)
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* fix data files install path (`#12 <https://github.com/ros2/teleop_twist_keyboard/issues/12>`_)
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* remove test_suite, add pytest as test_requires (`#11 <https://github.com/ros2/teleop_twist_keyboard/issues/11>`_)
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* use ros2 run to launch whichever the installation used (`#8 <https://github.com/ros2/teleop_twist_keyboard/issues/8>`_)
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* Fix teleop_twist_keyboard to have a setup.cfg. (`#9 <https://github.com/ros2/teleop_twist_keyboard/issues/9>`_)
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* Make sure to add teleop_twist_keyboard to ament index. (`#6 <https://github.com/ros2/teleop_twist_keyboard/issues/6>`_)
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* use OSI website as reference for license (`#2 <https://github.com/ros2/teleop_twist_keyboard/issues/2>`_)
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* ROS 2 port (`#1 <https://github.com/ros2/teleop_twist_keyboard/issues/1>`_)
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* Contributors: Adam Allevato, Austin, Chris Lalancette, Dirk Thomas, Mikael Arguedas
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0.6.1 (2018-05-02)
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------------------
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* Merge pull request `#11 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/11>`_ from MatthijsBurgh/patch-1
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Correct exception handling; Python3 print compatible
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* import print from future
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* Print python3 compatible
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* correct Exception handling
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* Merge pull request `#7 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/7>`_ from lucasw/speed_params
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set linear and turn speed via rosparams
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* Using tabs instead of spaces to match rest of file
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* set linear and turn speed via rosparams
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* Contributors: Austin, Lucas Walter, Matthijs van der Burgh
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0.6.0 (2016-03-21)
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------------------
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* Better instruction formatting
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* support holonomic base, send commmand with keyboard down
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* Fixing queue_size warning
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* Create README.md
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* Update the description string in package.xml
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* Contributors: Austin, Kei Okada, LiohAu, Mike Purvis, kk6axq, trainman419
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0.5.0 (2014-02-11)
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------------------
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* Initial import from brown_remotelab
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* Convert to catkin
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@@ -0,0 +1,3 @@
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Any contribution that you make to this repository will
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be under the BSD license 2.0, as dictated by that
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[license](https://opensource.org/licenses/BSD-3-Clause).
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@@ -0,0 +1,30 @@
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All rights reserved.
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Software License Agreement (BSD License 2.0)
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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||||
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the following
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disclaimer in the documentation and/or other materials provided
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with the distribution.
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* Neither the name of the copyright holder nor the names of its
|
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contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
COPYRIGHT OWNER 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;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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@@ -0,0 +1,52 @@
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# teleop_twist_keyboard
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Generic Keyboard Teleoperation for ROS
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## Run
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```sh
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ros2 run teleop_twist_keyboard teleop_twist_keyboard
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```
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Publishing to a different topic (in this case `my_cmd_vel`).
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```sh
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=my_cmd_vel
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```
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## Usage
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```
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This node takes keypresses from the keyboard and publishes them as Twist
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messages. It works best with a US keyboard layout.
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---------------------------
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Moving around:
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u i o
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j k l
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m , .
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For Holonomic mode (strafing), hold down the shift key:
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---------------------------
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U I O
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J K L
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M < >
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t : up (+z)
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b : down (-z)
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anything else : stop
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q/z : increase/decrease max speeds by 10%
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w/x : increase/decrease only linear speed by 10%
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e/c : increase/decrease only angular speed by 10%
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CTRL-C to quit
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```
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## Parameters
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- `stamped (bool, default: false)`
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- If false (the default), publish a `geometry_msgs/msg/Twist` message. If true, publish a `geometry_msgs/msg/TwistStamped` message.
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- `frame_id (string, default: '')`
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- When `stamped` is true, the frame_id to use when publishing the `geometry_msgs/msg/TwistStamped` message.
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- `speed (double, default: 0.25)`
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- The speed the node starts with by default.
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- `turn (double, default: 0.5)`
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- The turn rate (rad/s) the node starts with by default.
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@@ -0,0 +1,27 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>teleop_twist_keyboard</name>
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<version>2.4.0</version>
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<description>
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A robot-agnostic teleoperation node to convert keyboard commands to Twist
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messages.
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</description>
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<maintainer email="clalancette@openrobotics.org">Chris Lalancette</maintainer>
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<license>BSD License 2.0</license>
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<author email="namniart@gmail.com">Austin Hendrix</author>
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<author>Graylin Trevor Jay</author>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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@@ -0,0 +1,4 @@
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[develop]
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script_dir=$base/lib/teleop_twist_keyboard
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[install]
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install_scripts=$base/lib/teleop_twist_keyboard
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@@ -0,0 +1,38 @@
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from setuptools import setup
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package_name = 'teleop_twist_keyboard'
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setup(
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name=package_name,
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version='2.4.0',
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packages=[],
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py_modules=[
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'teleop_twist_keyboard'
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],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='Chris Lalancette',
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maintainer_email='clalancette@openrobotics.org',
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author='Graylin Trevor Jay, Austin Hendrix',
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keywords=['ROS'],
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classifiers=[
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'Intended Audience :: Developers',
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'License :: BSD',
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'Programming Language :: Python',
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'Topic :: Software Development',
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],
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description='A robot-agnostic teleoperation node to convert keyboard'
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'commands to Twist messages.',
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license='BSD',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'teleop_twist_keyboard = teleop_twist_keyboard:main'
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],
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},
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)
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+231
@@ -0,0 +1,231 @@
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# Copyright 2011 Brown University Robotics.
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# Copyright 2017 Open Source Robotics Foundation, Inc.
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# All rights reserved.
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#
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# Software License Agreement (BSD License 2.0)
|
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#
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# Redistribution and use in source and binary forms, with or without
|
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# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * 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.
|
||||
# * Neither the name of the Willow Garage nor the names of its
|
||||
# contributors may be used to endorse or promote products derived
|
||||
# from this software without specific prior written permission.
|
||||
#
|
||||
# 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 OWNER 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
|
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# 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
|
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# POSSIBILITY OF SUCH DAMAGE.
|
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import sys
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import threading
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import geometry_msgs.msg
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import rclpy
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if sys.platform == 'win32':
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import msvcrt
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else:
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import termios
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import tty
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msg = """
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This node takes keypresses from the keyboard and publishes them
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as Twist/TwistStamped messages. It works best with a US keyboard layout.
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---------------------------
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Moving around:
|
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u i o
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j k l
|
||||
m , .
|
||||
|
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For Holonomic mode (strafing), hold down the shift key:
|
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---------------------------
|
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U I O
|
||||
J K L
|
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M < >
|
||||
|
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t : up (+z)
|
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b : down (-z)
|
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|
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anything else : stop
|
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|
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q/z : increase/decrease max speeds by 10%
|
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w/x : increase/decrease only linear speed by 10%
|
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e/c : increase/decrease only angular speed by 10%
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CTRL-C to quit
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"""
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moveBindings = {
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'i': (1, 0, 0, 0),
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'o': (1, 0, 0, -1),
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'j': (0, 0, 0, 1),
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'l': (0, 0, 0, -1),
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'u': (1, 0, 0, 1),
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',': (-1, 0, 0, 0),
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'.': (-1, 0, 0, 1),
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'm': (-1, 0, 0, -1),
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'O': (1, -1, 0, 0),
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'I': (1, 0, 0, 0),
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'J': (0, 1, 0, 0),
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'L': (0, -1, 0, 0),
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'U': (1, 1, 0, 0),
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'<': (-1, 0, 0, 0),
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'>': (-1, -1, 0, 0),
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'M': (-1, 1, 0, 0),
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't': (0, 0, 1, 0),
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'b': (0, 0, -1, 0),
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}
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speedBindings = {
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'q': (1.1, 1.1),
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'z': (.9, .9),
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'w': (1.1, 1),
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'x': (.9, 1),
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'e': (1, 1.1),
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'c': (1, .9),
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}
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def getKey(settings):
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if sys.platform == 'win32':
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# getwch() returns a string on Windows
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key = msvcrt.getwch()
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else:
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tty.setraw(sys.stdin.fileno())
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# sys.stdin.read() returns a string on Linux
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key = sys.stdin.read(1)
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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return key
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def saveTerminalSettings():
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if sys.platform == 'win32':
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return None
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return termios.tcgetattr(sys.stdin)
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def restoreTerminalSettings(old_settings):
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if sys.platform == 'win32':
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return
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
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def vels(speed, turn):
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return 'currently:\tspeed %s\tturn %s ' % (speed, turn)
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def main():
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settings = saveTerminalSettings()
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rclpy.init()
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node = rclpy.create_node('teleop_twist_keyboard')
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# parameters
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stamped = node.declare_parameter('stamped', False).value
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frame_id = node.declare_parameter('frame_id', '').value
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speed = node.declare_parameter('speed', 0.25).value
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turn = node.declare_parameter('turn', 0.5).value
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if not stamped and frame_id:
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raise Exception("'frame_id' can only be set when 'stamped' is True")
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if stamped:
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TwistMsg = geometry_msgs.msg.TwistStamped
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else:
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TwistMsg = geometry_msgs.msg.Twist
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pub = node.create_publisher(TwistMsg, 'cmd_vel', 10)
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spinner = threading.Thread(target=rclpy.spin, args=(node,))
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spinner.start()
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x = 0.0
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y = 0.0
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z = 0.0
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th = 0.0
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status = 0.0
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twist_msg = TwistMsg()
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if stamped:
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twist = twist_msg.twist
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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twist_msg.header.frame_id = frame_id
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else:
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twist = twist_msg
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try:
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print(msg)
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print(vels(speed, turn))
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while True:
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key = getKey(settings)
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if key in moveBindings.keys():
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x = moveBindings[key][0]
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y = moveBindings[key][1]
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z = moveBindings[key][2]
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th = moveBindings[key][3]
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elif key in speedBindings.keys():
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speed = speed * speedBindings[key][0]
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turn = turn * speedBindings[key][1]
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print(vels(speed, turn))
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if (status == 14):
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print(msg)
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status = (status + 1) % 15
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else:
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x = 0.0
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y = 0.0
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z = 0.0
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th = 0.0
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if (key == '\x03'):
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break
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if stamped:
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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twist.linear.x = x * speed
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twist.linear.y = y * speed
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twist.linear.z = z * speed
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twist.angular.x = 0.0
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twist.angular.y = 0.0
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twist.angular.z = th * turn
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pub.publish(twist_msg)
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except Exception as e:
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print(e)
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||||
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finally:
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if stamped:
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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||||
|
||||
twist.linear.x = 0.0
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||||
twist.linear.y = 0.0
|
||||
twist.linear.z = 0.0
|
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twist.angular.x = 0.0
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||||
twist.angular.y = 0.0
|
||||
twist.angular.z = 0.0
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pub.publish(twist_msg)
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||||
rclpy.shutdown()
|
||||
spinner.join()
|
||||
|
||||
restoreTerminalSettings(settings)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -0,0 +1,20 @@
|
||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_copyright.main import main
|
||||
|
||||
|
||||
def test_copyright():
|
||||
rc = main(argv=['.'])
|
||||
assert rc == 0, 'Found errors'
|
||||
@@ -0,0 +1,20 @@
|
||||
# Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_flake8.main import main
|
||||
|
||||
|
||||
def test_flake8():
|
||||
rc = main(argv=[])
|
||||
assert rc == 0, 'Found errors'
|
||||
@@ -0,0 +1,20 @@
|
||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_pep257.main import main
|
||||
|
||||
|
||||
def test_pep257():
|
||||
rc = main(argv=['.'])
|
||||
assert rc == 0, 'Found code style errors / warnings'
|
||||
Reference in New Issue
Block a user