keyboard_teleop Namespace Reference

Functions
def	getKey ()
def	vels (speed)

Variables
string	msg
list	moveKeys
dictionary	speedBindings
int	TIMEOUT = -1
	settings = termios.tcgetattr(sys.stdin)
	pub = rospy.Publisher('command', Command, queue_size = 1)
	cart_pub = rospy.Publisher('cart_command', CartesianCommand, queue_size = 1)
	speed = rospy.get_param("~init_speed", 0.5)
	init_cmd_vx = rospy.get_param("~init_cmd_vx", 1.0)
	init_cmd_vy = rospy.get_param("~init_cmd_vy", 1.0)
	init_cmd_vz = rospy.get_param("~init_cmd_vz", 1.0)
	inc_delta = rospy.get_param("~inc_delta", 0.1)
	inc_P = rospy.get_param("~inc_P", 0.1)
int	delta_r = 0
int	delta_e = 0
int	n = 0
int	P = 0
float	v_x = 0.0
float	v_y = 0.0
float	v_z = 0.0
	cmd_vx = init_cmd_vx
	cmd_vy = init_cmd_vy
	cmd_vz = init_cmd_vz
	key = getKey()
bool	b_print = True
	command = Command()
	cart_command = CartesianCommand()

Detailed Description

    Control of the robot with keyboad.
    Based on https://github.com/ros-teleop

Function Documentation

def keyboard_teleop.getKey

(

)

Definition at line 40 of file keyboard_teleop.py.

def keyboard_teleop.vels

(

speed

)

Definition at line 55 of file keyboard_teleop.py.

Variable Documentation

bool keyboard_teleop.b_print = True

Definition at line 94 of file keyboard_teleop.py.

keyboard_teleop.cart_command = CartesianCommand()

Definition at line 162 of file keyboard_teleop.py.

keyboard_teleop.cart_pub = rospy.Publisher('cart_command', CartesianCommand, queue_size = 1)

Definition at line 64 of file keyboard_teleop.py.

keyboard_teleop.cmd_vx = init_cmd_vx

Definition at line 82 of file keyboard_teleop.py.

keyboard_teleop.cmd_vy = init_cmd_vy

Definition at line 83 of file keyboard_teleop.py.

keyboard_teleop.cmd_vz = init_cmd_vz

Definition at line 84 of file keyboard_teleop.py.

keyboard_teleop.command = Command()

Definition at line 155 of file keyboard_teleop.py.

keyboard_teleop.delta_e = 0

Definition at line 75 of file keyboard_teleop.py.

keyboard_teleop.delta_r = 0

Definition at line 74 of file keyboard_teleop.py.

keyboard_teleop.inc_delta = rospy.get_param("~inc_delta", 0.1)

Definition at line 72 of file keyboard_teleop.py.

keyboard_teleop.inc_P = rospy.get_param("~inc_P", 0.1)

Definition at line 73 of file keyboard_teleop.py.

keyboard_teleop.init_cmd_vx = rospy.get_param("~init_cmd_vx", 1.0)

Definition at line 67 of file keyboard_teleop.py.

keyboard_teleop.init_cmd_vy = rospy.get_param("~init_cmd_vy", 1.0)

Definition at line 68 of file keyboard_teleop.py.

keyboard_teleop.init_cmd_vz = rospy.get_param("~init_cmd_vz", 1.0)

Definition at line 69 of file keyboard_teleop.py.

keyboard_teleop.key = getKey()

Definition at line 91 of file keyboard_teleop.py.

list keyboard_teleop.moveKeys

Initial value:

= ['i', 'j', 'k', 'l', 'p', 'm', 'u', 'o', 'r', 't', 'y',
    'f', 'g', 'h']

Definition at line 26 of file keyboard_teleop.py.

string keyboard_teleop.msg

Initial value:

= """
---------------------------
Moving around:
   u    i    o    p
   j    k    l    m
Cartesian command:
   r    t    y
   f    g    h
anything else : stop
q/z : increase/decrease max speeds by 10%
CTRL-C to quit
"""

Definition at line 13 of file keyboard_teleop.py.

float keyboard_teleop.n = 0

Definition at line 76 of file keyboard_teleop.py.

keyboard_teleop.P = 0

Definition at line 77 of file keyboard_teleop.py.

keyboard_teleop.pub = rospy.Publisher('command', Command, queue_size = 1)

Definition at line 63 of file keyboard_teleop.py.

keyboard_teleop.settings = termios.tcgetattr(sys.stdin)

Definition at line 60 of file keyboard_teleop.py.

keyboard_teleop.speed = rospy.get_param("~init_speed", 0.5)

Definition at line 66 of file keyboard_teleop.py.

dictionary keyboard_teleop.speedBindings

Initial value:

= {
        'q':(1.1,1.1),
        'z':(.9,.9),
        'w':(1.1,1),
        'x':(.9,1),
        'e':(1,1.1),
        'c':(1,.9),
    }

Definition at line 29 of file keyboard_teleop.py.

int keyboard_teleop.TIMEOUT = -1

Definition at line 38 of file keyboard_teleop.py.

float keyboard_teleop.v_x = 0.0

Definition at line 79 of file keyboard_teleop.py.

float keyboard_teleop.v_y = 0.0

Definition at line 80 of file keyboard_teleop.py.

float keyboard_teleop.v_z = 0.0

Definition at line 81 of file keyboard_teleop.py.