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feat(teleop_twist_keyboard): add speed and turn limit parameters

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X-lanni
2025-07-03 18:14:55 +08:00
parent ffa37ff262
commit df9cee5779
1 changed files with 10 additions and 3 deletions
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teleop_twist_keyboard/teleop_twist_keyboard.py
+10 -3
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@@ -141,7 +141,9 @@ def main():
stamped = node.declare_parameter('stamped', False).value stamped = node.declare_parameter('stamped', False).value
frame_id = node.declare_parameter('frame_id', '').value frame_id = node.declare_parameter('frame_id', '').value
speed = node.declare_parameter('speed', 0.25).value speed = node.declare_parameter('speed', 0.25).value
turn = node.declare_parameter('turn', 0.5).value turn = node.declare_parameter('turn', 0.5).value
speed_limit = node.declare_parameter('speed_limit', 1.5).value
turn_limit = node.declare_parameter('turn_limit', 1.5).value
if not stamped and frame_id: if not stamped and frame_id:
raise Exception("'frame_id' can only be set when 'stamped' is True") raise Exception("'frame_id' can only be set when 'stamped' is True")
@@ -181,8 +183,13 @@ def main():
z = moveBindings[key][2] z = moveBindings[key][2]
th = moveBindings[key][3] th = moveBindings[key][3]
elif key in speedBindings.keys(): elif key in speedBindings.keys():
speed = speed * speedBindings[key][0] speed = min(speed_limit, speed * speedBindings[key][0])
turn = turn * speedBindings[key][1] turn = min(turn_limit, turn * speedBindings[key][1])
if speed == speed_limit:
print("Linear speed limit reached!")
if turn == turn_limit:
print("Angular speed limit reached!")
print(vels(speed, turn)) print(vels(speed, turn))
if (status == 14): if (status == 14):