root / scout / scoutsim / src / turtle_teleop.cpp @ 6ee555a3
History | View | Annotate | Download (2.36 KB)
1 |
#include <ros/ros.h> |
---|---|
2 |
#include <signal.h> |
3 |
#include <termios.h> |
4 |
#include <stdio.h> |
5 |
#include "constants.h" |
6 |
|
7 |
#define KEYCODE_R 0x43 |
8 |
#define KEYCODE_L 0x44 |
9 |
#define KEYCODE_U 0x41 |
10 |
#define KEYCODE_D 0x42 |
11 |
#define KEYCODE_Q 0x71 |
12 |
|
13 |
class TeleopTurtle |
14 |
{ |
15 |
public:
|
16 |
TeleopTurtle(); |
17 |
void keyLoop();
|
18 |
|
19 |
private:
|
20 |
|
21 |
|
22 |
ros::NodeHandle nh_; |
23 |
double linear_, angular_, l_scale_, a_scale_;
|
24 |
ros::Publisher vel_pub_; |
25 |
|
26 |
}; |
27 |
|
28 |
TeleopTurtle::TeleopTurtle(): |
29 |
linear_(0),
|
30 |
angular_(0),
|
31 |
l_scale_(2.0), |
32 |
a_scale_(2.0) |
33 |
{ |
34 |
nh_.param("scale_angular", a_scale_, a_scale_);
|
35 |
nh_.param("scale_linear", l_scale_, l_scale_);
|
36 |
|
37 |
vel_pub_ = nh_.advertise<turtlesim::Velocity>("turtle1/command_velocity", 1); |
38 |
} |
39 |
|
40 |
int kfd = 0; |
41 |
struct termios cooked, raw;
|
42 |
|
43 |
void quit(int sig) |
44 |
{ |
45 |
tcsetattr(kfd, TCSANOW, &cooked); |
46 |
ros::shutdown(); |
47 |
exit(0);
|
48 |
} |
49 |
|
50 |
|
51 |
int main(int argc, char** argv) |
52 |
{ |
53 |
ros::init(argc, argv, "teleop_turtle");
|
54 |
TeleopTurtle teleop_turtle; |
55 |
|
56 |
signal(SIGINT,quit); |
57 |
|
58 |
teleop_turtle.keyLoop(); |
59 |
|
60 |
return(0); |
61 |
} |
62 |
|
63 |
|
64 |
void TeleopTurtle::keyLoop()
|
65 |
{ |
66 |
char c;
|
67 |
bool dirty=false; |
68 |
|
69 |
|
70 |
// get the console in raw mode
|
71 |
tcgetattr(kfd, &cooked); |
72 |
memcpy(&raw, &cooked, sizeof(struct termios)); |
73 |
raw.c_lflag &=~ (ICANON | ECHO); |
74 |
// Setting a new line, then end of file
|
75 |
raw.c_cc[VEOL] = 1;
|
76 |
raw.c_cc[VEOF] = 2;
|
77 |
tcsetattr(kfd, TCSANOW, &raw); |
78 |
|
79 |
puts("Reading from keyboard");
|
80 |
puts("---------------------------");
|
81 |
puts("Use arrow keys to move the turtle.");
|
82 |
|
83 |
|
84 |
for(;;)
|
85 |
{ |
86 |
// get the next event from the keyboard
|
87 |
if(read(kfd, &c, 1) < 0) |
88 |
{ |
89 |
perror("read():");
|
90 |
exit(-1);
|
91 |
} |
92 |
|
93 |
linear_=angular_=0;
|
94 |
ROS_DEBUG("value: 0x%02X\n", c);
|
95 |
|
96 |
switch(c)
|
97 |
{ |
98 |
case KEYCODE_L:
|
99 |
ROS_DEBUG("LEFT");
|
100 |
angular_ = 1.0; |
101 |
dirty = true;
|
102 |
break;
|
103 |
case KEYCODE_R:
|
104 |
ROS_DEBUG("RIGHT");
|
105 |
angular_ = -1.0; |
106 |
dirty = true;
|
107 |
break;
|
108 |
case KEYCODE_U:
|
109 |
ROS_DEBUG("UP");
|
110 |
linear_ = 1.0; |
111 |
dirty = true;
|
112 |
break;
|
113 |
case KEYCODE_D:
|
114 |
ROS_DEBUG("DOWN");
|
115 |
linear_ = -1.0; |
116 |
dirty = true;
|
117 |
break;
|
118 |
} |
119 |
|
120 |
|
121 |
turtlesim::Velocity vel; |
122 |
vel.angular = a_scale_*angular_; |
123 |
vel.linear = l_scale_*linear_; |
124 |
if(dirty ==true) |
125 |
{ |
126 |
vel_pub_.publish(vel); |
127 |
dirty=false;
|
128 |
} |
129 |
} |
130 |
|
131 |
|
132 |
return;
|
133 |
} |
134 |
|
135 |
|
136 |
|