对于移动机器人,键盘的控制往往满足不了我们的需求,以前看好多电影里边都是用一个摇杆来控制机器人的,简直帅爆了,正好我这里有一个操作杆,那就来尝试感受一下。
操作杆(joystick)控制会更加有操作感,ROS中的很多机器人也带有操作杆的相关代码,只需要简单的移植即可。我们使用的是赛钛客(saitek)的一款操作杆,如下图所示:
使用的移植代码是clearpath_husky机器人中的python代码。 参考链接: http://www.ros.org/wiki/joy
一、测试操作杆驱动
二、控制代码
import roslib; roslib.load_manifest('smartcar_teleop')
import rospy
from sensor_msgs.msg import Joy
from geometry_msgs.msg import Twist
from std_msgs.msg import String
class Teleop:
def __init__(self):
rospy.init_node('smartcar_teleop_joy')
self.turn_scale = rospy.get_param('~turn_scale')
self.drive_scale = rospy.get_param('~drive_scale')
self.deadman_button = rospy.get_param('~deadman_button', 0)
self.cmd = None
cmd_pub = rospy.Publisher('cmd_vel', Twist)
announce_pub = rospy.Publisher('/smartcar/announce/teleops',
String, latch=True)
announce_pub.publish(rospy.get_namespace());
rospy.Subscriber("joy", Joy, self.callback)
rate = rospy.Rate(rospy.get_param('~hz', 20))
while not rospy.is_shutdown():
rate.sleep()
if self.cmd:
cmd_pub.publish(self.cmd)
def callback(self, data):
""" Receive joystick data, formulate Twist message. """
cmd = Twist()
cmd.linear.x = data.axes[1] * self.drive_scale
cmd.angular.z = data.axes[0] * self.turn_scale
if data.buttons[self.deadman_button] == 1:
self.cmd = cmd
else:
self.cmd = None
if __name__ == "__main__": Teleop()
三、机器人控制
<launch>
<arg name="drive_speed" default="1.0" />
<arg name="turn_speed" default="1.0" />
<arg name="joy_dev" default="/dev/input/js0" />
<arg name="cmd_topic" default="cmd_vel" />
<node pkg="joy" type="joy_node" name="joy_node">
<param name="dev" value="$(arg joy_dev)" />
<param name="deadzone" value="0.3" />
</node>
<node pkg="smartcar_teleop" type="teleop_joy.py" name="smartcar_teleop">
<param name="turn_scale" value="$(arg turn_speed)" />
<param name="drive_scale" value="$(arg drive_speed)" />
<remap from="cmd_vel" to="$(arg cmd_topic)" />
</node>
</launch>
roslaunch smartcar_display.rviz.launch
roslaunch smartcar_teleop teleop_joy.launch
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