本文整理汇总了Python中sensor_msgs.msg.Joy类的典型用法代码示例。如果您正苦于以下问题：Python Joy类的具体用法？Python Joy怎么用？Python Joy使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了Joy类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: compare_all
def compare_all(data):
global k
last_row = csv_data[k-frequency_offset]
diff = Quaternion()
diff.x = round(float(last_row[1])-convert_ppm(data.channels[3]),4)
diff.y = round(float(last_row[2])-convert_ppm(data.channels[1]),4)
diff.z = round(float(last_row[4])-convert_ppm(data.channels[0]),4)
diff.w = round(float(last_row[5])+convert_ppm(data.channels[2]),4)
testing_pub.publish(diff)
if (k < len(csv_data)):
row = csv_data[k]
#log for post processing
#joystick log
c = csv.writer(open("/home/jinahadam/catkin_ws/src/testing/gps_joy.csv", "ab"))
c.writerow([data.header.stamp.secs,row[1],row[2],row[4],row[5]])
#rc Inn log
c = csv.writer(open("/home/jinahadam/catkin_ws/src/testing/rc_in.csv", "ab"))
c.writerow([data.header.stamp.secs,convert_ppm(data.channels[3]),convert_ppm(data.channels[1]),convert_ppm(data.channels[0]),convert_ppm(data.channels[2])])
msg = Joy()
msg.axes = (float(row[1]),float(row[2]),float(row[3]),float(row[4]),float(row[5]),float(row[6]),float(row[7]))
msg.buttons = (0,0,0,0,0,0,0,0,0,0,0)
k = k + 1
pub.publish(msg)
else:
#k = 0
print("Joystick & RC In data logged with GPS Time")
exit()示例2: publish
def publish(self):
cmd = Joy()
cmd.header.stamp = rospy.Time.now()
cmd.axes = self.axes_data
cmd.buttons = self.button_data
if self.debug: print cmd
self.pub.publish(cmd)示例3: talker
def talker():
pub = rospy.Publisher('joy', Joy, queue_size=20)
rospy.init_node('test', anonymous=True)
rate = rospy.Rate(100) # 10hz
bits=[]
#print axis,buttons
while not rospy.is_shutdown():
data = s.recvfrom(6144)
app_data = data[0]
app_data_addr = data[1]
app_data=app_data.strip("[]")
app_data=app_data.split(",")
app_data=map(int,app_data)
#print app_data
#app_data=[10,10,0,0,0,0,0,0,0,0]
recv = robot1.receiver(app_data)
app_axis_data,app_button_data=recv.sort_data()
axis,buttons=recv.joystick_data(app_axis_data,app_button_data)
joy=Joy()
joy.axes=axis
joy.buttons=buttons
#hello_str = "hello world %s" % rospy.get_time()
rospy.loginfo(app_data)
rospy.loginfo(buttons)
pub.publish(joy)
rate.sleep()示例4: joy_callback
def joy_callback(self, data):
joy = Joy()
joy.header.stamp = rospy.Time.now()
joy.axes = self.convert(data.axes)
joy.buttons = data.buttons
self.prev_input_axes = list(data.axes)
joy_pub = rospy.Publisher("/joy_relative/page_" + str(self.crt_page), Joy)
joy_pub.publish(joy)示例5: callback
def callback(data):
pub = rospy.Publisher('joy', Joy)
buttons = [0] * (trigger_button + 1)
buttons[trigger_button] = 1
joy_msg = Joy()
joy_msg.buttons = buttons
pub.publish(joy_msg)示例6: run
def run(self):
"""Loop that obtains the latest wiimote state, publishes the joystick data, and sleeps.
The Joy.msg message types calls for just two fields: float32[] axes, and int32[] buttons.
"""
rospy.loginfo("Wiimote joystick publisher starting (topic wiijoy).")
self.threadName = "Joy topic Publisher"
try:
while not rospy.is_shutdown():
(canonicalAccel, canonicalNunchukAccel, canonicalAngleRate) = self.obtainWiimoteData()
msg = Joy(header=None,
axes=[canonicalAccel[X], canonicalAccel[Y], canonicalAccel[Z]],
buttons=None)
# If a gyro is attached to the Wiimote, we add the
# gyro information:
if self.wiistate.motionPlusPresent:
msg.axes.extend([canonicalAngleRate[PHI], canonicalAngleRate[THETA], canonicalAngleRate[PSI]])
# Fill in the ROS message's buttons field (there *must* be
# a better way in python to declare an array of 11 zeroes...]
theButtons = [False,False,False,False,False,False,False,False,False,False,False]
theButtons[State.MSG_BTN_1] = self.wiistate.buttons[BTN_1]
theButtons[State.MSG_BTN_2] = self.wiistate.buttons[BTN_2]
theButtons[State.MSG_BTN_A] = self.wiistate.buttons[BTN_A]
theButtons[State.MSG_BTN_B] = self.wiistate.buttons[BTN_B]
theButtons[State.MSG_BTN_PLUS] = self.wiistate.buttons[BTN_PLUS]
theButtons[State.MSG_BTN_MINUS] = self.wiistate.buttons[BTN_MINUS]
theButtons[State.MSG_BTN_LEFT] = self.wiistate.buttons[BTN_LEFT]
theButtons[State.MSG_BTN_RIGHT] = self.wiistate.buttons[BTN_RIGHT]
theButtons[State.MSG_BTN_UP] = self.wiistate.buttons[BTN_UP]
theButtons[State.MSG_BTN_DOWN] = self.wiistate.buttons[BTN_DOWN]
theButtons[State.MSG_BTN_HOME] = self.wiistate.buttons[BTN_HOME]
msg.buttons = theButtons
measureTime = self.wiistate.time
timeSecs = int(measureTime)
timeNSecs = int(abs(timeSecs - measureTime) * 10**9)
# Add the timestamp
msg.header.stamp.secs = timeSecs
msg.header.stamp.nsecs = timeNSecs
try:
self.pub.publish(msg)
except rospy.ROSException:
rospy.loginfo("Topic wiijoy closed. Shutting down Joy sender.")
exit(0)
#rospy.logdebug("Joystick state:")
#rospy.logdebug(" Joy buttons: " + str(theButtons) + "\n Joy accel: " + str(canonicalAccel) + "\n Joy angular rate: " + str(canonicalAngleRate))
rospy.sleep(self.sleepDuration)
except rospy.ROSInterruptException:
rospy.loginfo("Shutdown request. Shutting down Joy sender.")
exit(0)示例7: on_message
def on_message(self, message_raw):
message = json.loads(message_raw)
if message['msg']=='lag':
self.send( json.dumps({
'start':message['start'],
}))
if message['msg']=='joy':
msg = Joy()
msg.header.stamp = rospy.Time.now()
msg.axes = message['axes']
msg.buttons = message['buttons']
joy_pub.publish(msg)示例8: send
def send(self):
joy_msg = Joy()
joy_msg.header.stamp = rospy.Time.now()
buttons = (self.ui.button_0, self.ui.button_1, self.ui.button_2, self.ui.button_3, self.ui.button_4,
self.ui.button_5, self.ui.button_6, self.ui.button_7, self.ui.button_8, self.ui.button_9,
self.ui.button_10, self.ui.button_11)
joy_msg.buttons = [b.isChecked() for b in buttons]
joy_msg.axes = [mult*s.value()/100.0 for s, mult in
zip((self.ui.rollSlider, self.ui.pitchSlider, self.ui.yawSlider, self.ui.altSlider), (-1.0, 1.0, -1.0, 1.0))]
for label, value in zip((self.ui.rollLabel, self.ui.pitchLabel, self.ui.yawLabel, self.ui.altLabel), joy_msg.axes):
label.setText('%0.2f' % value)
self.pub.publish(joy_msg)示例9: run
def run(self):
blub=Joy()
while(self.run):
data=ord(self.ser.read(1))
if data==255:
data=ord(self.ser.read(1))
if data==255:
data=ord(self.ser.read(1))
if data==255:
data=ord(self.ser.read(1))
if data==24:
data=self.ser.read(7)
axes = struct.unpack('BBBBBBB', data)
for x in axes:
blub.axes.append((x-128)/127.0)
print blub.axes
data=self.ser.read(2)
button = struct.unpack('H', data)[0]
blub.buttons.insert(0,int(button/2048))
button-=(int(button/2048))*button
blub.buttons.insert(0,int(button/1024))
button-=(int(button/1024))*button
blub.buttons.insert(0,int(button/512))
button-=(int(button/512))*button
blub.buttons.insert(0,int(button/256))
button-=(int(button/256))*button
blub.buttons.insert(0,int(button/128))
button-=(int(button/128))*button
blub.buttons.insert(0,int(button/64))
button-=(int(button/64))*button
blub.buttons.insert(0,int(button/32))
button-=(int(button/32))*button
blub.buttons.insert(0,int(button/16))
button-=(int(button/16))*button
blub.buttons.insert(0,int(button/8))
button-=(int(button/8))*button
blub.buttons.insert(0,int(button/4))
button-=(int(button/4))*button
blub.buttons.insert(0,int(button/2))
button-=(int(button/2))*button
blub.buttons.insert(0,int(button))
print blub
blub.axes=list()
blub.buttons=list()
self.ser.close()示例10: comapre_single_channel
def comapre_single_channel(data):
global k
last_row = csv_data[k-frequency_offset]
lat = Pose2D()
lat.x = float(last_row[1])
lat.y = convert_ppm(data.channels[3])
lat.theta = 0
latency_ch.publish(lat)
if (k < len(csv_data)):
row = csv_data[k]
msg = Joy()
msg.axes = (float(row[1]),float(row[2]),float(row[3]),float(row[4]),float(row[5]),float(row[6]),float(row[7]))
msg.buttons = (0,0,0,0,0,0,0,0,0,0,0)
k = k + 1
pub.publish(msg)
else:
k = 0示例11: main
def main():
rospy.sleep(1)
rospy.init_node('trackpoint_joy')
trackpoint_joy_pub = rospy.Publisher('/trackpoint/joy', Joy)
tp_file = open( "/dev/input/mice", "rb" )
while not rospy.is_shutdown():
buf = tp_file.read(3)
button = ord( buf[0] )
bLeft = button & 0x1
bMiddle = ( button & 0x4 ) > 0
bRight = ( button & 0x2 ) > 0
x,y = struct.unpack( "bb", buf[1:] )
rospy.loginfo("L:%d, M: %d, R: %d, x: %d, y: %d\n" % (bLeft, bMiddle, bRight, x, y) )
joy_msg = Joy()
joy_msg.header.stamp = rospy.Time.now()
joy_msg.axes = [x, y]
joy_msg.buttons = [bLeft, bMiddle, bRight]
trackpoint_joy_pub.publish(joy_msg)
# rospy.sleep(0.1)
tp_file.close();示例12: main
def main():
pub = rospy.Publisher('ernest_sensors/imu', Imu, queue_size=10)
eyes = rospy.Publisher('ernest_sensors/eyes', Range, queue_size=10)
nunchuck = rospy.Publisher('ernest_sensors/joy', Joy, queue_size=10)
nunchuck_giro = rospy.Publisher('ernest_sensors/joy_giro', Imu, queue_size=10)
comm = ArduinoCommunicator()
rospy.init_node('ernest_sensors')
for line in comm.loop():
print line
try:
x, y, z, dis, joy_x, joy_y, giro_x, giro_y, giro_z, but_c, but_z = line.split(",")
imu = Imu()
imu.header.frame_id = "imu"
imu.linear_acceleration.x = -float(x)
imu.linear_acceleration.y = float(z)
imu.linear_acceleration.z = float(y)
r = Range()
r.header.frame_id = "imu"
r.radiation_type = 1
r.field_of_view = 0.5
r.min_range = 0.20
r.max_range = 3
r.range = float(dis)/100.0
j = Joy()
j.axes = [
maprange(float(joy_x), 25, 226, -1, 1),
maprange(float(joy_y), 32, 223, -1, 1)
]
j.buttons = [int(but_c), int(but_z)]
imu2 = Imu()
imu2.header.frame_id = "imu"
imu2.linear_acceleration.x = (float(giro_y) - 512) / 512.0
imu2.linear_acceleration.y = -(float(giro_x) - 512) / 512.0
imu2.linear_acceleration.z = -(float(giro_z) - 512) / 512.0
pub.publish(imu)
eyes.publish(r)
nunchuck.publish(j)
nunchuck_giro.publish(imu2)
except ValueError:
continue示例13: diff
def diff(data):
global k
last_row = csv_data[k-frequency_offset]
diff = Quaternion()
diff.x = round(float(last_row[1])-convert_ppm(data.channels[3]),4)
diff.y = round(float(last_row[2])-convert_ppm(data.channels[1]),4)
diff.z = round(float(last_row[4])-convert_ppm(data.channels[0]),4)
diff.w = round(float(last_row[5])+convert_ppm(data.channels[2]),4)
testing_pub.publish(diff)
if (k < len(csv_data)):
row = csv_data[k]
msg = Joy()
msg.axes = (float(row[1]),float(row[2]),float(row[3]),float(row[4]),float(row[5]),float(row[6]),float(row[7]))
msg.buttons = (0,0,0,0,0,0,0,0,0,0,0)
k = k + 1
pub.publish(msg)
else:
k = 0示例14: ready
def ready(pub):
msg = Joy()
msg.header.stamp = rospy.Time.now()
valueAxe = 0.0
valueButton = 0
standup_time = 20 #2 seconds
for i in range (0, 20):
msg.axes.append(valueAxe)
for e in range (0, 17):
msg.buttons.append(valueButton)
rate = rospy.Rate(10)
time.sleep(1)
msg.buttons[3] = 1
i=0
bo=True
print "STAND_UP"
while not rospy.is_shutdown() and bo:
i=i+1
if (i>standup_time):
bo=False
msg.buttons[3] = 0
pub.publish(msg)
rate.sleep()示例15: right
def right(pub):
msg = Joy()
msg.header.stamp = rospy.Time.now()
valueAxe = 0.0
valueButton = 0
turning_time = 30 #3 seconds
for i in range (0, 20):
msg.axes.append(valueAxe)
for e in range (0, 17):
msg.buttons.append(valueButton)
rate = rospy.Rate(10)
time.sleep(1)
msg.axes[2] = -1
i=0
bo=True
print "TURNING RIGHT"
while not rospy.is_shutdown() and bo:
i=i+1
if (i>turning_time):
bo=False
msg.axes[2] = 0
pub.publish(msg)
rate.sleep()