180 lines
5.0 KiB
Python
180 lines
5.0 KiB
Python
import rospy
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from geometry_msgs.msg import Twist
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import sys, select, os
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import tty, termios
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from std_msgs.msg import String
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MAX_LIN_VEL = 20
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MAX_ANGLE = 1
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LIN_VEL_STEP_SIZE = 0.1
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ANGLE_STEP_SIZE = 0.1
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cmd_vel_mask = False
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ctrl_leader = False
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msg2all = """
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Control Your XTDrone!
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To all drones (press g to control the leader)
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---------------------------
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1 2 3 4 5 6 7 8 9 0
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w r t y i
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a s d g j k l
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x v b n ,
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w/x : increase/decrease forward velocity
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a/d : increase/decrease steering angle
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i/, : no use
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j/l : no use
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r : return home
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t/y : arm/disarm
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v/n : no use
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b : offboard
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s/k : no use
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0~9 : extendable mission(eg.different formation configuration)
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this will mask the keyboard control
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g : control the leader
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CTRL-C to quit
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"""
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msg2leader = """
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Control Your XTDrone!
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To the leader (press g to control all drones)
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---------------------------
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1 2 3 4 5 6 7 8 9 0
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w r t y i
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a s d g j k l
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x v b n ,
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w/x : increase/decrease forward velocity
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a/d : increase/decrease steering angle
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i/, : no use
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j/l : no use
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r : return home
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t/y : arm/disarm
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v/n : no use
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b : offboard
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s/k : no use
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0~9 : extendable mission(eg.different formation configuration)
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this will mask the keyboard control
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g : control all drones
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CTRL-C to quit
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"""
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def getKey():
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tty.setraw(sys.stdin.fileno())
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rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
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if rlist:
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key = sys.stdin.read(1)
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else:
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key = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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return key
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def print_msg():
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if ctrl_leader:
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print(msg2leader)
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else:
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print(msg2all)
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if __name__=="__main__":
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settings = termios.tcgetattr(sys.stdin)
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rover_num = int(sys.argv[1])
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rospy.init_node('rover_keyboard_multi_control')
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multi_cmd_vel_flu_pub = [None]*rover_num
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multi_cmd_pub = [None]*rover_num
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for i in range(rover_num):
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multi_cmd_vel_flu_pub[i] = rospy.Publisher('/xtdrone/rover_'+str(i)+'/cmd_vel_flu', Twist, queue_size=10)
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multi_cmd_pub[i] = rospy.Publisher('/xtdrone/rover_'+str(i)+'/cmd',String,queue_size=10)
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leader_cmd_vel_pub = rospy.Publisher("/xtdrone/leader/cmd_vel", Twist, queue_size=10)
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leader_cmd_pub = rospy.Publisher("/xtdrone/leader_cmd", String, queue_size=10)
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cmd= String()
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twist = Twist()
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forward = 0.0
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angle = 0.0
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print_msg()
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while(1):
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key = getKey()
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if key == 'w' :
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forward = forward + LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t forward vel %.2f\t steering angle %.2f " % (forward, angle))
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elif key == 'x' :
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forward = forward - LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t forward vel %.2f\t steering angle %.2f " % (forward, angle))
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elif key == 'a' :
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angle = angle + ANGLE_STEP_SIZE
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print_msg()
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print("currently:\t forward vel %.2f\t steering angle %.2f " % (forward, angle))
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elif key == 'd' :
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angle = angle - ANGLE_STEP_SIZE
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print_msg()
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print("currently:\t forward vel %.2f\t steering angle %.2f " % (forward, angle))
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elif key == 'r':
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cmd = 'AUTO.RTL'
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print_msg()
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print('Returning home')
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elif key == 't':
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cmd = 'ARM'
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print_msg()
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print('Arming')
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elif key == 'y':
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cmd = 'DISARM'
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print_msg()
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print('Disarming')
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elif key == 'b':
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cmd = 'OFFBOARD'
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print_msg()
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print('Offboard')
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elif key == 'g':
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ctrl_leader = not ctrl_leader
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print_msg()
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elif key == 's' :
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cmd_vel_mask = False
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forward = 0.0
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angle = 0.0
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print_msg()
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print("currently:\t forward vel %.2f\t steering angle %.2f " % (forward, angle))
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else:
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for i in range(10):
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if key == str(i):
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cmd = 'mission'+key
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print_msg()
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print(cmd)
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cmd_vel_mask = True
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if (key == '\x03'):
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break
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if forward > MAX_LIN_VEL:
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forward = MAX_LIN_VEL
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elif forward < -MAX_LIN_VEL:
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forward = -MAX_LIN_VEL
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if angle > MAX_ANGLE:
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angle = MAX_ANGLE
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elif angle < -MAX_ANGLE:
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angle = -MAX_ANGLE
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twist.linear.x = forward; twist.angular.z = angle
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for i in range(rover_num):
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if ctrl_leader:
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leader_cmd_vel_pub.publish(twist)
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leader_cmd_pub.publish(cmd)
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else:
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if not cmd_vel_mask:
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multi_cmd_vel_flu_pub[i].publish(twist)
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multi_cmd_pub[i].publish(cmd)
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cmd = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) |