1. teleop_key package 생성
catkin_create_pkg teleop_key geometry_msgs rospy
2. ROS Joystick package 설치
sudo apt-get install ros-kinetic-joy
ROS – Teleop Key 참조
3. package.xml 파일과 다음과 같이 수정합니다.
<?xml version="1.0"?>
<package>
<name>teleop_keyandjoy</name>
<version>1.0.0</version>
<description>Provides teleoperation of zetabank mobile robot using joysticks or keyboard.</description>
<author email="sjyong@humanoidsystem.com">Seo, Jae Yong</author>
<maintainer email="sjyong@humanoidsystem.com">Seo, Jae Yong</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_depend>joy</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>rospy</run_depend>
<run_depend>joy</run_depend>
</package>
4. CMakeLists.txt 파일을 아래의 내용으로 수정합니다.
cmake_minimum_required(VERSION 2.8.3)
project(teleop_keyandjoy)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
joy
)
catkin_package(
INCLUDE_DIRS
CATKIN_DEPENDS geometry_msgs roscpp rospy joy
DEPENDS
)
###########
## Build ##
###########
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(teleop_joy src/teleop_joy.cpp)
target_link_libraries(teleop_joy ${catkin_LIBRARIES})
#############
## Install ##
#############
## Mark executable scripts (Python etc.) for installation
install(PROGRAMS
scripts/teleop_key
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables and/or libraries for installation
install(TARGETS teleop_joy
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark all other useful stuff for installation
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
5. teleop_key 파이썬 파일을 아래와 같이 작성합니다. 이 파일은 scripts 폴더에 복사합니다.
#!/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
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 = {
'i':(1,0),
'o':(1,-1),
'j':(0,1),
'l':(0,-1),
'u':(1,1),
',':(-1,0),
'.':(-1,1),
'm':(-1,-1),
}
speedBindings={
'q':(1.1,1.1),
'z':(.9,.9),
'w':(1.1,1),
'x':(.9,1),
'e':(1,1.1),
'c':(1,.9),
}
def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
speed = .2
turn = 1
def vels(speed,turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin)
rospy.init_node('zetabank_teleop')
pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)
x = 0
th = 0
status = 0
count = 0
acc = 0.1
target_speed = 0
target_turn = 0
control_speed = 0
control_turn = 0
try:
print(msg)
print(vels(speed,turn))
while(1):
key = getKey()
if key in moveBindings.keys():
x = moveBindings[key][0]
th = moveBindings[key][1]
count = 0
elif key in speedBindings.keys():
speed = speed * speedBindings[key][0]
turn = turn * speedBindings[key][1]
count = 0
print(vels(speed,turn))
if (status == 14):
print(msg)
status = (status + 1) % 15
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'):
break
target_speed = speed * x
target_turn = turn * th
if target_speed > control_speed:
control_speed = min( target_speed, control_speed + 0.02 )
elif target_speed < control_speed:
control_speed = max( target_speed, control_speed - 0.02 )
else:
control_speed = target_speed
if target_turn > control_turn:
control_turn = min( target_turn, control_turn + 0.1 )
elif target_turn < control_turn:
control_turn = max( target_turn, control_turn - 0.1 )
else:
control_turn = target_turn
twist = Twist()
twist.linear.x = control_speed; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = control_turn
pub.publish(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))
except Exception as e:
print(e)
finally:
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)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
6. teleop_joy.cpp 파일을 아래와 같이 작성하여 scr 폴더에 복사합니다.
/*
* Copyright (c) 2010, 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.
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
#include "boost/thread/mutex.hpp"
#include "boost/thread/thread.hpp"
#include "ros/console.h"
#define __DEBUG
class zetabank_teleop_joy
{
public:
zetabank_teleop_joy();
private:
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
void publish();
ros::NodeHandle ph_, nh_;
int linear_, angular_, deadman_axis_;
double l_scale_, a_scale_;
ros::Publisher vel_pub_;
ros::Subscriber joy_sub_;
geometry_msgs::Twist last_published_;
boost::mutex publish_mutex_;
bool deadman_pressed_;
bool zero_twist_published_;
ros::Timer timer_;
};
zetabank_teleop_joy::zetabank_teleop_joy():
ph_("~"),
linear_(1),
angular_(0),
deadman_axis_(4),
l_scale_(0.3),
a_scale_(0.9)
{
ph_.param("axis_linear", linear_, linear_);
ph_.param("axis_angular", angular_, angular_);
ph_.param("axis_deadman", deadman_axis_, deadman_axis_);
ph_.param("scale_angular", a_scale_, a_scale_);
ph_.param("scale_linear", l_scale_, l_scale_);
deadman_pressed_ = false;
zero_twist_published_ = false;
vel_pub_ = ph_.advertise<geometry_msgs::Twist>("cmd_vel", 1, true);
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("joy", 10, &zetabank_teleop_joy::joyCallback, this);
timer_ = nh_.createTimer(ros::Duration(0.1), boost::bind(&zetabank_teleop_joy::publish, this));
}
void zetabank_teleop_joy::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
geometry_msgs::Twist vel;
/*vel.angular.z = a_scale_*joy->axes[angular_];
vel.linear.x = l_scale_*joy->axes[linear_];
last_published_ = vel;*/
#ifdef __DEBUG
ROS_INFO_STREAM("RLT" << joy->axes[4]);
ROS_INFO_STREAM("Up/Down Btn" << joy->axes[3]);
ROS_INFO_STREAM("Left/Right Btn" << joy->axes[2]);
ROS_INFO_STREAM("X Btn" << joy->buttons[3]); // Stop
#endif
deadman_pressed_ = joy->buttons[deadman_axis_];
}
void zetabank_teleop_joy::publish()
{
boost::mutex::scoped_lock lock(publish_mutex_);
if (deadman_pressed_)
{
vel_pub_.publish(last_published_);
zero_twist_published_=false;
}
else if(!deadman_pressed_ && !zero_twist_published_)
{
vel_pub_.publish(*new geometry_msgs::Twist());
zero_twist_published_=true;
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtlebot_teleop");
zetabank_teleop_joy turtlebot_teleop;
ros::spin();
}
7. 패키지를 컴파일 합니다.
catkin_make teleop_keyandjoy