adds land takeoff reset to keyboard_azerty
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33e872937f
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1 changed files with 47 additions and 33 deletions
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@ -4,16 +4,18 @@ import roslib; roslib.load_manifest('teleop_twist_keyboard')
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import rospy
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import rospy
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from geometry_msgs.msg import Twist
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from geometry_msgs.msg import Twist
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from std_msgs.msg import Empty
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import sys, select, termios, tty
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import sys, select, termios, tty
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msg = """
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msg = """
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Reading from the keyboard and Publishing to Twist!
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---------------------
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---------------------------
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takeoff>| t|⇑ y|↖ u|↑ i|↗ o|
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Moving around:
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|---|---|---|---|---|----
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|⇑ y|↖ u|↑ i|↗ o|
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reset>| g|⇐ h|← j| k|→ l|⇒ m|
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|⇐ h|← j| k|→ l|⇒ m|
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|---|---|---|---|---|----
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|⇓ n|↙ ,|↓ ;|↘ :|
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land>| b|⇓ n|↙ ,|↓ ;|↘ :|
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---------------------
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a/w : increase/decrease max speeds by 10%
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a/w : increase/decrease max speeds by 10%
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z/x : increase/decrease only linear speed by 10%
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z/x : increase/decrease only linear speed by 10%
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@ -63,7 +65,10 @@ def vels(speed,turn):
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if __name__=="__main__":
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if __name__=="__main__":
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settings = termios.tcgetattr(sys.stdin)
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settings = termios.tcgetattr(sys.stdin)
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pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
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pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
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land = rospy.Publisher('/ardrone/land', Empty, queue_size=1)
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takeoff = rospy.Publisher('/ardrone/takeoff', Empty, queue_size=1)
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reset = rospy.Publisher('/ardrone/reset', Empty, queue_size=1)
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rospy.init_node('keyboard_azerty')
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rospy.init_node('keyboard_azerty')
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x = 0
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x = 0
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th = 0
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th = 0
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@ -75,6 +80,16 @@ if __name__=="__main__":
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print vels(speed,turn)
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print vels(speed,turn)
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while(1):
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while(1):
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key = getKey()
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key = getKey()
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if (key == 't'):
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takeoff.publish(Empty())
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print "takeoff"
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elif (key == 'g'):
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reset.publish(Empty())
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print "reset"
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elif (key == 'b'):
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land.publish(Empty())
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print "land"
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else:
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if key in moveBindings.keys():
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if key in moveBindings.keys():
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x = moveBindings[key][0]
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x = moveBindings[key][0]
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th = moveBindings[key][1]
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th = moveBindings[key][1]
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@ -83,7 +98,6 @@ if __name__=="__main__":
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elif key in speedBindings.keys():
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elif key in speedBindings.keys():
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speed = speed * speedBindings[key][0]
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speed = speed * speedBindings[key][0]
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turn = turn * speedBindings[key][1]
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turn = turn * speedBindings[key][1]
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print vels(speed,turn)
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print vels(speed,turn)
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if (status == 14):
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if (status == 14):
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print msg
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print msg
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