[Personalrobots-commit] SF.net SVN: personalrobots:[12078] pkg/trunk

[<tf...@us...>]

Revision: 12078
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12078&view=rev
Author:   tfoote
Date:     2009-03-04 00:15:52 +0000 (Wed, 04 Mar 2009)

Log Message:
-----------
teleop_base_pedals is now inside teleop_base package too

Modified Paths:
--------------
    pkg/trunk/nav/teleop_base/manifest.xml
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/manifest.xml
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/master_teleop.launch

Added Paths:
-----------
    pkg/trunk/nav/teleop_base/scripts/
    pkg/trunk/nav/teleop_base/scripts/teleop_base_pedals
    pkg/trunk/nav/teleop_base/teleop_base_pedals.launch

Removed Paths:
-------------
    pkg/trunk/manip/teleop_base_pedals/

Modified: pkg/trunk/nav/teleop_base/manifest.xml
===================================================================
--- pkg/trunk/nav/teleop_base/manifest.xml	2009-03-04 00:08:41 UTC (rev 12077)
+++ pkg/trunk/nav/teleop_base/manifest.xml	2009-03-04 00:15:52 UTC (rev 12078)
@@ -4,6 +4,7 @@
   <review status="unreviewed" notes=""/>
   <depend package="joy"/>
   <depend package="roscpp"/>
+  <depend package="rospy"/>
   <depend package="std_msgs"/>
   <depend package="robot_srvs"/>
 </package>

Copied: pkg/trunk/nav/teleop_base/scripts/teleop_base_pedals (from rev 11502, pkg/trunk/manip/teleop_base_pedals/src/teleop_base_pedals)
===================================================================
--- pkg/trunk/nav/teleop_base/scripts/teleop_base_pedals	                        (rev 0)
+++ pkg/trunk/nav/teleop_base/scripts/teleop_base_pedals	2009-03-04 00:15:52 UTC (rev 12078)
@@ -0,0 +1,52 @@
+#!/usr/bin/python
+
+PKG = 'teleop_base'
+import roslib; roslib.load_manifest(PKG)
+
+import rospy
+
+from joy.msg import Joy
+from robot_msgs.msg import PoseDot
+
+r_pedal_state = 0
+l_pedal_state = 0
+
+def l_pedal_callback(data):
+  global l_pedal_state
+  l_pedal_state = data
+
+def r_pedal_callback(data):
+  global r_pedal_state 
+  r_pedal_state = data
+
+def valid_pedals(data):
+  if(data == 0):
+    return False
+  if(len(data.axes) != 3):
+    return False
+  return True
+
+def teleop_base_pedals():
+  rospy.init_node('teleop_base_pedals')
+  pub = rospy.Publisher('cmd_vel', PoseDot)
+  rospy.Subscriber("l_pedals", Joy, l_pedal_callback)
+  rospy.Subscriber("r_pedals", Joy, r_pedal_callback)
+
+  cmd_vel = PoseDot()
+  max_rot_vel = 3
+  max_y_vel = 0.3
+  max_x_vel = 1
+ 
+  while not rospy.is_shutdown():
+    if(valid_pedals(l_pedal_state) & valid_pedals(r_pedal_state)):
+      cmd_vel.vel.vx = (r_pedal_state.axes[2] - l_pedal_state.axes[2]) * 0.5 * max_x_vel
+      cmd_vel.vel.vy = (r_pedal_state.axes[0] - l_pedal_state.axes[1]) * 0.5 * max_y_vel
+      cmd_vel.vel.vz = 0
+      cmd_vel.ang_vel.vx = 0
+      cmd_vel.ang_vel.vy = 0
+      cmd_vel.ang_vel.vz = (r_pedal_state.axes[2] + l_pedal_state.axes[2]) * 0.5 * max_rot_vel
+      pub.publish(cmd_vel)
+    rospy.sleep(0.05)
+
+if __name__ == '__main__':
+  teleop_base_pedals() 

Copied: pkg/trunk/nav/teleop_base/teleop_base_pedals.launch (from rev 11167, pkg/trunk/manip/teleop_base_pedals/teleop_base_pedals.launch)
===================================================================
--- pkg/trunk/nav/teleop_base/teleop_base_pedals.launch	                        (rev 0)
+++ pkg/trunk/nav/teleop_base/teleop_base_pedals.launch	2009-03-04 00:15:52 UTC (rev 12078)
@@ -0,0 +1,13 @@
+<launch>
+  <node pkg="joy" type="joy" name="r_pedals">
+    <remap from="joy" to="r_pedals"/>
+    <param name="dev" value="/dev/input/js0"/>
+    <param name="deadzone" value="0"/>
+  </node>
+  <node pkg="joy" type="joy" name="l_pedals">
+    <remap from="joy" to="l_pedals"/>
+    <param name="dev" value="/dev/input/js1"/>
+    <param name="deadzone" value="0"/>
+  </node>
+  <node pkg="teleop_base" type="teleop_base_pedals" output="screen"/>
+</launch>

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/manifest.xml	2009-03-04 00:08:41 UTC (rev 12077)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/manifest.xml	2009-03-04 00:15:52 UTC (rev 12078)
@@ -8,7 +8,7 @@
   <review status="na" notes=""/>
   
   <depend package="pr2_phase_space" />
-  <depend package="teleop_base_pedals" />
+  <depend package="teleop_base" />
   <depend package="teleop_joint_effort" />
 
 </package>

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/master_teleop.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/master_teleop.launch	2009-03-04 00:08:41 UTC (rev 12077)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_teleop/master_teleop.launch	2009-03-04 00:15:52 UTC (rev 12078)
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- Base Pedals -->
-  <include file="$(find teleop_base_pedals)/teleop_base_pedals.launch" />
+  <include file="$(find teleop_base)/teleop_base_pedals.launch" />
 
   <!-- Phase Space -->
   <node pkg="phase_space" type="phase_space_node" output="log" />


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