本文整理汇总了Python中sensor_msgs.msg.Joy.axes[1]方法的典型用法代码示例。如果您正苦于以下问题：Python Joy.axes[1]方法的具体用法？Python Joy.axes[1]怎么用？Python Joy.axes[1]使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类sensor_msgs.msg.Joy的用法示例。
在下文中一共展示了Joy.axes[1]方法的6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: toPS3Msg
# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import axes[1] [as 别名]
def toPS3Msg(self):
joy = Joy()
joy.header = self.orig_msg.header
joy.buttons = [0] * 17
joy.axes = [0] * 20
if self.center:
joy.buttons[16] = 1
if self.select:
joy.buttons[0] = 1
if self.start:
joy.buttons[3] = 1
if self.L3:
joy.buttons[1] = 1
if self.R3:
joy.buttons[2] = 1
if self.square:
joy.axes[15] = -1.0
joy.buttons[15] = 1
if self.up:
joy.axes[4] = -1.0
joy.buttons[4] = 1
if self.down:
joy.axes[6] = -1.0
joy.buttons[6] = 1
if self.left:
joy.axes[7] = -1.0
joy.buttons[7] = 1
if self.right:
joy.axes[5] = -1.0
joy.buttons[5] = 1
if self.triangle:
joy.axes[12] = -1.0
joy.buttons[12] = 1
if self.cross:
joy.axes[14] = -1.0
joy.buttons[14] = 1
if self.circle:
joy.axes[13] = -1.0
joy.buttons[13] = 1
if self.L1:
joy.axes[10] = -1.0
joy.buttons[10] = 1
if self.R1:
joy.axes[11] = -1.0
joy.buttons[11] = 1
if self.L2:
joy.axes[8] = -1.0
joy.buttons[8] = 1
if self.R2:
joy.axes[9] = -1.0
joy.buttons[9] = 1
joy.axes[0] = self.left_analog_x
joy.axes[1] = self.left_analog_y
joy.axes[2] = self.right_analog_x
joy.axes[3] = self.right_analog_y
return joy示例2: backwards
# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import axes[1] [as 别名]
def backwards(pub):
msg = Joy()
msg.header.stamp = rospy.Time.now()
valueAxe = 0.0
valueButton = 0
walking_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[1] = -1
i=0
bo=True
print "WALKING BACKWARDS"
while not rospy.is_shutdown() and bo:
i=i+1
if (i>walking_time):
bo=False
msg.axes[1] = 0
pub.publish(msg)
rate.sleep()示例3: publish_joy
# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import axes[1] [as 别名]
def publish_joy(self):
'''
Publishes current stick/button state as a Joy object, to be handled by navigator_emergency.py node
'''
current_joy = Joy()
current_joy.axes.extend([0] * 4)
current_joy.buttons.extend([0] * 16)
for stick in self.sticks:
if self.sticks[stick] >= 0x8000: # Convert 2's complement hex to signed decimal if negative
self.sticks[stick] -= 0x10000
current_joy.axes[0] = np.float32(self.sticks['UD']) / 2048
current_joy.axes[1] = np.float32(self.sticks['LR']) / 2048
current_joy.axes[3] = np.float32(self.sticks['TQ']) / 2048
current_joy.buttons[7] = np.int32(self.buttons['START'])
current_joy.buttons[3] = np.int32(self.buttons['Y'])
current_joy.buttons[2] = np.int32(self.buttons['X'])
current_joy.buttons[0] = np.int32(self.buttons['A'])
current_joy.buttons[1] = np.int32(self.buttons['B'])
current_joy.buttons[11] = np.int32(self.buttons['DL']) # Dpad Left
current_joy.buttons[12] = np.int32(self.buttons['DR']) # Dpad Right
current_joy.header.frame_id = "/base_link"
current_joy.header.stamp = rospy.Time.now()
self.joy_pub.publish(current_joy)示例4: Joy
# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import axes[1] [as 别名]
pub = rospy.Publisher('/joy', Joy, queue_size=10)
msg = Joy()
msg.header.stamp = rospy.Time.now()
rate = rospy.Rate(10)
valueAxe = 0.0
valueButton = 0
for i in range (0, 20):
msg.axes.append(valueAxe)
for e in range (0, 17):
msg.buttons.append(valueButton)
################
## WALK ##
################
walking_time=float(seconds)+0.4 ##manual time calibration
start = time.time()
msg.axes[1] = 1
bo=True
while not rospy.is_shutdown() and bo:
sample_time = time.time()
if ((sample_time - start) > walking_time):
bo=False
msg.axes[0] = 0
msg.axes[1] = 0
pub.publish(msg)
rate.sleep()
示例5: talker
# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import axes[1] [as 别名]
def talker():
##PARAMS:
standup_time=20
walking_time=120
turning_time=125
rospy.init_node("joy_simulate", anonymous=True)
pub = rospy.Publisher("/joy", Joy, queue_size=10)
msg = Joy()
msg.header.stamp = rospy.Time.now()
rate = rospy.Rate(10)
################
## INITIALIZE ##
################
valueAxe = 0.0
valueButton = 0
for i in range (0, 20):
msg.axes.append(valueAxe)
for e in range (0, 17):
msg.buttons.append(valueButton)
time.sleep(1)
####################
## PONERSE EN PIE ##
####################
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()
time.sleep(2)
#################
## ANDAR 30 CM ##
#################
msg.axes[1] = 1
i=0
bo=True
print "WALKING"
while not rospy.is_shutdown() and bo:
i=i+1
if (i>walking_time):
bo=False
msg.axes[1] = 0
pub.publish(msg)
rate.sleep()
###########
## GIRAR ##
###########
msg.axes[2] = -1
i=0
bo=True
print "TURN"
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()
#################
## ANDAR 30 CM ##
#################
msg.axes[1] = 1
i=0
bo=True
print "WALKING"
while not rospy.is_shutdown() and bo:
i=i+1
if (i>walking_time):
bo=False
msg.axes[1] = 0
pub.publish(msg)
rate.sleep()
####################
## SENTARSE ##
####################
msg.buttons[3] = 1
i=0
bo=True
standup_time=standup_time/3
print "SEAT_DOWN"
#.........这里部分代码省略.........
示例6: onMessage
# 需要导入模块: from sensor_msgs.msg import Joy [as 别名]
# 或者: from sensor_msgs.msg.Joy import axes[1] [as 别名]
#.........这里部分代码省略.........
pub.publish(msg)
if '/crab_leg_kinematics' in ros_nodes: #spider
print("spider running")
pub = rospy.Publisher('/joy', Joy, queue_size=10, latch=True)
msg = Joy()
msg.header.stamp = rospy.Time.now()
rate = rospy.Rate(10)
valueAxe = 0.0
valueButton = 0
for i in range (0, 20):
msg.axes.append(valueAxe)
for e in range (0, 17):
msg.buttons.append(valueButton)
pub.publish(msg)
print("DEFAULT MESSAGES SENT")
if '/mavros' in ros_nodes: #rover
print("rover")
pub = rospy.Publisher('/mavros/rc/override', OverrideRCIn, queue_size=10)
msg = OverrideRCIn()
msg.channels[0] = 1500
msg.channels[1] = 0
msg.channels[2] = 1500
msg.channels[3] = 0
msg.channels[4] = 0
msg.channels[5] = 0
msg.channels[6] = 0
msg.channels[7] = 0
pub.publish(msg)
print("@@@@@@@@@@@@@@@@@@")
elif method_name.startswith('control'):
robot = method_name.split('control_')[1]
if robot.startswith('spider'):
direction = robot.split('spider_')[1]
pub = rospy.Publisher('/joy', Joy, queue_size=10)
msg = Joy()
msg.header.stamp = rospy.Time.now()
rate = rospy.Rate(10)
valueAxe = 0.0
valueButton = 0
for i in range (0, 20):
msg.axes.append(valueAxe)
for e in range (0, 17):
msg.buttons.append(valueButton)
if direction == 'up':#forward
msg.axes[1] = 1
elif direction == 'down':#backwards
msg.axes[1] = -1
elif direction == 'left':#turn left
#msg.axes[0] = 1
msg.axes[2] = 1
elif direction == 'right':#turn rigth
#msg.axes[0] = -1
msg.axes[2] = -1
pub.publish(msg)
rate.sleep()
elif robot.startswith('rover'):
direction = robot.split('rover_')[1]
rospy.wait_for_service('/mavros/set_mode')
change_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode)
resp1 = change_mode(custom_mode='manual')
print (resp1)
if 'True' in str(resp1):
pub = rospy.Publisher('mavros/rc/override', OverrideRCIn, queue_size=10)
r = rospy.Rate(10) #2hz
msg = OverrideRCIn()
throttle_channel=2
steer_channel=0
speed_slow = 1558
#speed_turbo = 2000 #dangerous
speed = speed_slow
if direction == 'up':#forward
msg.channels[throttle_channel]=speed
msg.channels[steer_channel]=1385 #straight
elif direction == 'down':#backwards
msg.channels[throttle_channel]=1450 #slow
msg.channels[steer_channel]=1385 #straight
elif direction == 'left':#turn left
msg.channels[throttle_channel]=speed
msg.channels[steer_channel]=1285
elif direction == 'right':#turn rigth
msg.channels[throttle_channel]=speed
msg.channels[steer_channel]=1485
start = time.time()
flag=True
while not rospy.is_shutdown() and flag:
sample_time=time.time()
if ((sample_time - start) > 0.5):
flag=False
pub.publish(msg)
r.sleep()
else:
rospy.logerr('Called unknown method %s', method_name)