From f3c61f9e196a7ca07dc5eff2c5b86989eae1f706 Mon Sep 17 00:00:00 2001 From: matheusans Date: Fri, 22 Jan 2021 15:48:26 -0300 Subject: [PATCH] joystick --- .../.vscode/c_cpp_properties.json | 18 ++ joystick_control/.vscode/settings.json | 5 + joystick_control/CMakeLists.txt | 208 ++++++++++++++++++ joystick_control/launch/tele_operation.launch | 11 + joystick_control/package.xml | 74 +++++++ joystick_control/src/ps4_control.py | 30 +++ 6 files changed, 346 insertions(+) create mode 100644 joystick_control/.vscode/c_cpp_properties.json create mode 100644 joystick_control/.vscode/settings.json create mode 100644 joystick_control/CMakeLists.txt create mode 100644 joystick_control/launch/tele_operation.launch create mode 100644 joystick_control/package.xml create mode 100755 joystick_control/src/ps4_control.py diff --git a/joystick_control/.vscode/c_cpp_properties.json b/joystick_control/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..774ef1f --- /dev/null +++ b/joystick_control/.vscode/c_cpp_properties.json @@ -0,0 +1,18 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "", + "limitSymbolsToIncludedHeaders": true + }, + "includePath": [ + "/opt/ros/melodic/include/**", + "/home/matheusans/manipulator1/src/DHEX/dhex_localization/include/**", + "/home/matheusans/manipulator1/src/DHEX/joysitck_control/include/**", + "/usr/include/**" + ], + "name": "ROS" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/joystick_control/.vscode/settings.json b/joystick_control/.vscode/settings.json new file mode 100644 index 0000000..a560512 --- /dev/null +++ b/joystick_control/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "python.autoComplete.extraPaths": [ + "/opt/ros/melodic/lib/python2.7/dist-packages" + ] +} \ No newline at end of file diff --git a/joystick_control/CMakeLists.txt b/joystick_control/CMakeLists.txt new file mode 100644 index 0000000..74187dd --- /dev/null +++ b/joystick_control/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 3.0.2) +project(joystick_control) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + sensor_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES joystick_control +# CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/joystick_control.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/joystick_control_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_joystick_control.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/joystick_control/launch/tele_operation.launch b/joystick_control/launch/tele_operation.launch new file mode 100644 index 0000000..735bbfb --- /dev/null +++ b/joystick_control/launch/tele_operation.launch @@ -0,0 +1,11 @@ + + + + + + + + + diff --git a/joystick_control/package.xml b/joystick_control/package.xml new file mode 100644 index 0000000..65459bc --- /dev/null +++ b/joystick_control/package.xml @@ -0,0 +1,74 @@ + + + joystick_control + 0.0.0 + The joystick_control package + + + + + matheusans + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + roscpp + rospy + sensor_msgs + std_msgs + + + + + + + + diff --git a/joystick_control/src/ps4_control.py b/joystick_control/src/ps4_control.py new file mode 100755 index 0000000..039200e --- /dev/null +++ b/joystick_control/src/ps4_control.py @@ -0,0 +1,30 @@ +#!/usr/bin/env python +import rospy +from geometry_msgs.msg import Twist +from sensor_msgs.msg import Joy + + + +def T_operation(data): + + teleOperation = Twist() # create the Twist Object + teleOperation.linear.x = (0.2)*data.axes[1] #read the L button from joystick + teleOperation.angular.z = data.axes[3] #read the R button from joystick + dispatcher.publish(teleOperation) # .publish the datas from the joy to the cmd_vel topic + + + +def start(): + + global dispatcher + + dispatcher = rospy.Publisher('/dhex/cmd_vel', Twist, queue_size=10) + # subscribed to joystick inputs on topic "joy" + rospy.Subscriber("joy", Joy, T_operation) + # start the node + rospy.init_node('Tele_Operation') + rospy.spin() + +if __name__ == '__main__': + start() +