38 lines
1.3 KiB
Python
38 lines
1.3 KiB
Python
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#! /usr/bin/env python
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# -*- coding: utf-8 -*-
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import rospy
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from geometry_msgs.msg import Twist
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from std_msgs.msg import Float64
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class Twister:
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def __init__(self):
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self.twist = Twist()
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self.twist_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
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self.control_linear_z = rospy.Subscriber('control_linear_z', Float64, self.on_linear_z, queue_size=1)
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self.control_angular_z = rospy.Subscriber('control_angular_z', Float64, self.on_angular_z, queue_size=1)
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self.control_linear_x = rospy.Subscriber('control_linear_x', Float64, self.on_linear_x, queue_size=1)
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self.control_linear_y = rospy.Subscriber('control_linear_y', Float64, self.on_linear_y, queue_size=1)
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def on_linear_x(self, value):
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self.twist.linear.x = value.data
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self.twist_pub.publisher(self.twist)
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def on_linear_y(self, value):
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self.twist.linear.y = value.data
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self.twist_pub.publisher(self.twist)
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def on_linear_z(self, value):
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self.twist.linear.z = value.data
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self.twist_pub.publisher(self.twist)
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def on_angular_z(self, value):
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self.twist.angular.z = value.data
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self.twist_pub.publisher(self.twist)
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if __name__ == '__main__':
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rospy.init_node('twist_controls')
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twister = Twister()
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rospy.spin()
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