【kinetic】操作系统探索总结（八）键盘控制

#!/usr/bin/env python
import roslib; roslib.load_manifest(‘smartcar_teleop‘)
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String
 
class Teleop:
    def __init__(self):
        pub = rospy.Publisher(‘cmd_vel‘, Twist)
        rospy.init_node(‘smartcar_teleop‘)
        rate = rospy.Rate(rospy.get_param(‘~hz‘, 1))
        self.cmd = None
    
        cmd = Twist()
        cmd.linear.x = 0.2
        cmd.linear.y = 0
        cmd.linear.z = 0
        cmd.angular.z = 0
        cmd.angular.z = 0
        cmd.angular.z = 0.5
 
        self.cmd = cmd
        while not rospy.is_shutdown():
            str = "hello world %s" % rospy.get_time()
            rospy.loginfo(str)
            pub.publish(self.cmd)
            rate.sleep()
 
if __name__ == ‘__main__‘:Teleop()

<launch>
  <arg name="cmd_topic" default="cmd_vel" />
  <node pkg="smartcar_teleop" type="teleop.py" name="smartcar_teleop">
    <remap from="cmd_vel" to="$(arg cmd_topic)" />
  </node>
</launch>

    #include <termios.h>  
    #include <signal.h>  
    #include <math.h>  
    #include <stdio.h>  
    #include <stdlib.h>  
    #include <sys/poll.h>  

    #include <boost/thread/thread.hpp>  
    #include <ros/ros.h>  
    #include <geometry_msgs/Twist.h>  

    #define KEYCODE_W 0x77  
    #define KEYCODE_A 0x61  
    #define KEYCODE_S 0x73  
    #define KEYCODE_D 0x64  

    #define KEYCODE_A_CAP 0x41  
    #define KEYCODE_D_CAP 0x44  
    #define KEYCODE_S_CAP 0x53  
    #define KEYCODE_W_CAP 0x57  

    class SmartCarKeyboardTeleopNode  
    {  
        private:  
            double walk_vel_;  
            double run_vel_;  
            double yaw_rate_;  
            double yaw_rate_run_;  

            geometry_msgs::Twist cmdvel_;  
            ros::NodeHandle n_;  
            ros::Publisher pub_;       

        public:  
            SmartCarKeyboardTeleopNode()  
            {  
                pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);     
                ros::NodeHandle n_private("~");  
                n_private.param("walk_vel", walk_vel_, 0.5);  
                n_private.param("run_vel", run_vel_, 1.0);  
                n_private.param("yaw_rate", yaw_rate_, 1.0);  
                n_private.param("yaw_rate_run", yaw_rate_run_, 1.5);  
            }   

            ~SmartCarKeyboardTeleopNode() { }  
            void keyboardLoop();     

            void stopRobot()  
            {  
                cmdvel_.linear.x = 0.0;  
                cmdvel_.angular.z = 0.0;  
                pub_.publish(cmdvel_);  
            }  
    };  

    SmartCarKeyboardTeleopNode* tbk;  
    int kfd = 0;  
    struct termios cooked, raw;  
    bool done;  
     
    int main(int argc, char** argv)  
    {  
        ros::init(argc,argv,"tbk", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);  
        SmartCarKeyboardTeleopNode tbk;    
        boost::thread t = boost::thread(boost::bind(&SmartCarKeyboardTeleopNode::keyboardLoop, &tbk));     
   
        ros::spin();  
        t.interrupt();  
        t.join();  
        tbk.stopRobot();  
        tcsetattr(kfd, TCSANOW, &cooked);  

        return(0);  
    }    

    void SmartCarKeyboardTeleopNode::keyboardLoop()  
    {  

        char c;  
        double max_tv = walk_vel_;  
        double max_rv = yaw_rate_;  
        bool dirty = false;  
        int speed = 0;  
        int turn = 0;    

        // get the console in raw mode  
        tcgetattr(kfd, &cooked);  
        memcpy(&raw, &cooked, sizeof(struct termios));  
        raw.c_lflag &=~ (ICANON | ECHO);  
        raw.c_cc[VEOL] = 1;  
        raw.c_cc[VEOF] = 2;  
        tcsetattr(kfd, TCSANOW, &raw);     

        puts("Reading from keyboard");  
        puts("Use WASD keys to control the robot");  
        puts("Press Shift to move faster");     

        struct pollfd ufd;  
        ufd.fd = kfd;  
        ufd.events = POLLIN;    

        for(;;)  
        {  
            boost::this_thread::interruption_point();  
            // get the next event from the keyboard  
            int num;  

            if ((num = poll(&ufd, 1, 250)) < 0)  
            {  
                perror("poll():");  
                return;  
            }  
            else if(num > 0)  
            {  
                if(read(kfd, &c, 1) < 0)  
                {  
                    perror("read():");  
                    return;  
                }  
            }  
            else  
            {  
                if (dirty == true)  
                {  
                    stopRobot();  
                    dirty = false;  
                }    

                continue;  
            }  

            switch(c)  
            {  
                case KEYCODE_W:  
                    max_tv = walk_vel_;  
                    speed = 1;  
                    turn = 0;  
                    dirty = true;  
                    break;  

                case KEYCODE_S:  
                    max_tv = walk_vel_;  
                    speed = -1;  
                    turn = 0;  
                    dirty = true;  
                    break;  

                case KEYCODE_A:  
                    max_rv = yaw_rate_;  
                    speed = 0;  
                    turn = 1;  
                    dirty = true;  
                    break;  

                case KEYCODE_D:  
                    max_rv = yaw_rate_;  
                    speed = 0;  
                    turn = -1;  
                    dirty = true;  
                    break;  

                case KEYCODE_W_CAP:  
                    max_tv = run_vel_;  
                    speed = 1;  
                    turn = 0;  
                    dirty = true;  
                    break;  

                case KEYCODE_S_CAP:  
                    max_tv = run_vel_;  
                    speed = -1;  
                    turn = 0;  
                    dirty = true;  
                    break;  

                case KEYCODE_A_CAP:  
                    max_rv = yaw_rate_run_;  
                    speed = 0;  
                    turn = 1;  
                    dirty = true;  
                    break;  

                case KEYCODE_D_CAP:  
                    max_rv = yaw_rate_run_;  
                    speed = 0;  
                    turn = -1;  
                    dirty = true;  
                    break;                

                default:  
                    max_tv = walk_vel_;  
                    max_rv = yaw_rate_;  
                    speed = 0;  
                    turn = 0;  
                    dirty = false;  
            }  
            cmdvel_.linear.x = speed * max_tv;  
            cmdvel_.angular.z = turn * max_rv;  
            pub_.publish(cmdvel_);  
        }  
    }

cmake_minimum_required(VERSION 2.8.3)
project(smartcar_teleop)

## 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
  std_msgs
  urdf
)

## 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#   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 smartcar_teleop
#  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs urdf
#  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}/smartcar_teleop.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/smartcar_teleop_node.cpp)
add_executable(smartcar_teleop src/keyboard.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}
# )

target_link_libraries(smartcar_teleop ${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
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_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_smartcar_teleop.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)