如果尝试过前面的例子,有没有感觉每次让机器人移动还要在终端里输入指令,这也太麻烦了,有没有办法通过键盘来控制机器人的移动呢?答案室当然的了。我研究了其他几个机器人键盘控制的代码,还是有所收获的,最后移植到了smartcar上,实验成功。
roscreate-pkg smartcar_teleop rospy geometry_msgs std_msgs roscpp rosmake
#!/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()
rosrun smartcar_teleop teleop.py
<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>
rosbuild_add_boost_directories() rosbuild_add_executable(smartcar_keyboard_teleop src/keyboard.cpp) target_link_libraries(smartcar_keyboard_teleop boost_thread)
#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_); } }
#!/usr/bin/env python # -*- coding: utf-8 -* import os import sys import tty, termios import roslib; roslib.load_manifest('smartcar_teleop') import rospy from geometry_msgs.msg import Twist from std_msgs.msg import String # 全局变量 cmd = Twist() pub = rospy.Publisher('cmd_vel', Twist) def keyboardLoop(): #初始化 rospy.init_node('smartcar_teleop') rate = rospy.Rate(rospy.get_param('~hz', 1)) #速度变量 walk_vel_ = rospy.get_param('walk_vel', 0.5) run_vel_ = rospy.get_param('run_vel', 1.0) yaw_rate_ = rospy.get_param('yaw_rate', 1.0) yaw_rate_run_ = rospy.get_param('yaw_rate_run', 1.5) max_tv = walk_vel_ max_rv = yaw_rate_ #显示提示信息 print "Reading from keyboard" print "Use WASD keys to control the robot" print "Press Caps to move faster" print "Press q to quit" #读取按键循环 while not rospy.is_shutdown(): fd = sys.stdin.fileno() old_settings = termios.tcgetattr(fd) #不产生回显效果 old_settings[3] = old_settings[3] & ~termios.ICANON & ~termios.ECHO try : tty.setraw( fd ) ch = sys.stdin.read( 1 ) finally : termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) if ch == 'w': max_tv = walk_vel_ speed = 1 turn = 0 elif ch == 's': max_tv = walk_vel_ speed = -1 turn = 0 elif ch == 'a': max_rv = yaw_rate_ speed = 0 turn = 1 elif ch == 'd': max_rv = yaw_rate_ speed = 0 turn = -1 elif ch == 'W': max_tv = run_vel_ speed = 1 turn = 0 elif ch == 'S': max_tv = run_vel_ speed = -1 turn = 0 elif ch == 'A': max_rv = yaw_rate_run_ speed = 0 turn = 1 elif ch == 'D': max_rv = yaw_rate_run_ speed = 0 turn = -1 elif ch == 'q': exit() else: max_tv = walk_vel_ max_rv = yaw_rate_ speed = 0 turn = 0 #发送消息 cmd.linear.x = speed * max_tv; cmd.angular.z = turn * max_rv; pub.publish(cmd) rate.sleep() #停止机器人 stop_robot(); def stop_robot(): cmd.linear.x = 0.0 cmd.angular.z = 0.0 pub.publish(cmd) if __name__ == '__main__': try: keyboardLoop() except rospy.ROSInterruptException: pass
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