turtlebot_teleop_key

#!/usr/bin/env python

# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
#    * Redistributions in binary form must reproduce the above copyright
#      notice, this list of conditions and the following disclaimer in the
#      documentation and/or other materials provided with the distribution.
#    * Neither the name of the Willow Garage, Inc. nor the names of its
#      contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

import rospy

from geometry_msgs.msg import Twist
from std_msgs.msg import Int32

import sys, select, termios, tty

msg = """
Control Your Turtlebot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit
"""

moveBindings = {
        ',':(-1,0),
        '.':(-1,-1),
        'm':(-1,1),
           }

speed = .2
turn = 1


def callback(keyr):

    read = keyr.data
    speed = .4
    turn = 3
    x = 0
    key = 0
    th = 0
    status = 0
    count = 0
    acc = 0.2
    target_speed = 0
    target_turn = 0
    control_speed = 0
    control_turn = 0
    if read > 0 :

        if read == 5 :
            key = ','
            print(key)
        elif read == 2 :
            key = '.'
            print(key)
        elif read == 3 :
            key = 'm'
            print(key)
        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

        #print(vels(speed,turn))

        if key in moveBindings.keys():
            x = moveBindings[key][0]
            th = moveBindings[key][1]
            count = 0

        elif key == ' ' or key == 'k' :
            x = 0
            th = 0
            control_speed = 0
            control_turn = 0
        else:
            count = count + 1
            if count > 4:
                x = 0
                th = 0
            if (key == '\x03'):
                exit()

        target_speed = speed * x
        target_turn = turn * th

        if target_speed > control_speed:
            control_speed = min( target_speed, control_speed + 0.1 )

        elif target_speed < control_speed:
            control_speed = max( target_speed, control_speed - 0.1 )
        else:
            control_speed = target_speed

        if target_turn > control_turn:
            control_turn = min( target_turn, control_turn + 0.5 )
        elif target_turn < control_turn:
            control_turn = max( target_turn, control_turn - 0.5 )
        else:
            control_turn = target_turn

        twist = Twist()
        twist.linear.x = 1.5*control_speed; twist.linear.y = 0; twist.linear.z = 0
        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0.5*control_turn
        pub.publish(twist)
        print(twist)

        #print("loop: {0}".format(count))
        #print("target: vx: {0}, wz: {1}".format(target_speed, target_turn))
        #print("publihsed: vx: {0}, wz: {1}".format(twist.linear.x, twist.angular.z))


        #twist = Twist()
        #twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
        #twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
        #pub.publish(twist)


#speed = 0.2

if __name__=="__main__":

    settings = termios.tcgetattr(sys.stdin)
    print(msg)
    rospy.init_node('turtlebot_teleop')
    pub = rospy.Publisher('~cmd_vel', Twist, queue_size=10)
    rospy.Subscriber('in_put', Int32 , callback)
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    rospy.spin()