commit 6b61f3e945e27fd8c367d2479d5b208f1b3a386b
Author: Nils Schulte <git@nilsschulte.de>
Date:   Sat Jan 20 20:58:47 2024 +0100

    init

diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..d45ab3f
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>twist_web</name>
+  <version>1.0.0</version>
+  <description>
+    A robot-agnostic teleoperation node in the browser to output Twist
+    messages.
+  </description>
+
+  <maintainer email="git@nilsschulte.de">Nils Schulte</maintainer>
+
+  <license>BSD License 2.0</license>
+
+  <autor email="git@nilsschulte.de">Nils Schulte</autor>
+
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000..7f7f9f9
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/twist_web
+[install]
+install_scripts=$base/lib/twist_web
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..9288887
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,38 @@
+from setuptools import setup
+
+package_name = 'twist_web'
+
+setup(
+    name=package_name,
+    version='2.3.2',
+    packages=[],
+    py_modules=[
+        'twist_web'
+    ],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Chris Lalancette',
+    maintainer_email='clalancette@openrobotics.org',
+    author='Graylin Trevor Jay, Austin Hendrix',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: BSD',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='A robot-agnostic teleoperation node to convert keyboard'
+                'commands to Twist messages.',
+    license='BSD',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'twist_web = twist_web:main'
+        ],
+    },
+)
diff --git a/twist_web.py b/twist_web.py
new file mode 100755
index 0000000..853a72b
--- /dev/null
+++ b/twist_web.py
@@ -0,0 +1,194 @@
+# Copyright 2011 Brown University Robotics.
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+import threading
+
+import geometry_msgs.msg
+import rclpy
+
+
+page= """
+<!DOCTYPE HTML>
+<html>
+<script src="http://bobboteck.github.io/joy/joy.js">
+</script>
+<script type="text/javascript">
+// Create JoyStick object into the DIV 'joyDiv'
+function httpGetAsync(theUrl, callback)
+{
+    var xmlHttp = new XMLHttpRequest();
+    xmlHttp.onreadystatechange = function() { 
+        if (xmlHttp.readyState == 4 && xmlHttp.status == 200)
+            callback(xmlHttp.responseText);
+    }
+    xmlHttp.open("GET", theUrl, true); // true for asynchronous 
+    xmlHttp.send(null);
+}
+window.addEventListener("load", () => {
+joy = new JoyStick('joyDiv');
+setInterval(function(){
+joy.GetX(); 
+httpGetAsync("/update?x="+joy.GetX()+"&y="+joy.GetY(), () => {});
+}, 200);});
+</script>
+<body>
+<div id="joyDiv" style="width:500px;height:500px;margin-bottom:20px;"></div>
+</body>
+</html>
+"""
+
+moveBindings = {
+}
+
+speedBindings = {
+}
+
+from flask import Flask, request, redirect
+
+
+app = Flask(__name__)
+
+rclpy.init()
+
+node = rclpy.create_node('twist_web')
+
+@app.route("/")
+def hello_world():
+    return page
+
+@app.route('/update', methods=['GET'])
+def handle_get():
+    global twist_msg, twist, pub
+    if request.method == 'GET':
+        pos = (int(request.args['y']),int(request.args['x']))
+        print(pos)
+        if stamped:
+            twist_msg.header.stamp = node.get_clock().now().to_msg()
+        twist.linear.x = pos[0] / 500
+        twist.linear.y = 0.0 
+        twist.linear.z = 0.0
+        twist.angular.x = 0.0
+        twist.angular.y = 0.0
+        twist.angular.z = -pos[1] /100
+        pub.publish(twist_msg)
+    return "ok"
+
+def main():
+    global node, pub, spinner, TwistMsg, stamped, frame_id, twist, twist_msg
+    # parameters
+    stamped = node.declare_parameter('stamped', True).value
+    frame_id = node.declare_parameter('frame_id', '').value
+    if not stamped and frame_id:
+        raise Exception("'frame_id' can only be set when 'stamped' is True")
+
+    if stamped:
+        TwistMsg = geometry_msgs.msg.TwistStamped
+    else:
+        TwistMsg = geometry_msgs.msg.Twist
+
+    twist_msg = TwistMsg()
+    if stamped:
+        twist = twist_msg.twist
+        twist_msg.header.stamp = node.get_clock().now().to_msg()
+        twist_msg.header.frame_id = frame_id
+    else:
+        twist = twist_msg
+    pub = node.create_publisher(TwistMsg, 'staubi_base_controller/cmd_vel', 10)
+
+
+    speed = 0.5
+    turn = 1.0
+    x = 0.0
+    y = 0.0
+    z = 0.0
+    th = 0.0
+    status = 0.0
+
+
+    if stamped:
+        twist = twist_msg.twist
+        twist_msg.header.stamp = node.get_clock().now().to_msg()
+        twist_msg.header.frame_id = frame_id
+    else:
+        twist = twist_msg
+
+    try:
+        return
+        print(msg)
+        print(vels(speed, turn))
+        while True:
+            key = getKey(settings)
+            if key in moveBindings.keys():
+                x = moveBindings[key][0]
+                y = moveBindings[key][1]
+                z = moveBindings[key][2]
+                th = moveBindings[key][3]
+            elif key in speedBindings.keys():
+                speed = speed * speedBindings[key][0]
+                turn = turn * speedBindings[key][1]
+
+                print(vels(speed, turn))
+                if (status == 14):
+                    print(msg)
+                status = (status + 1) % 15
+            else:
+                x = 0.0
+                y = 0.0
+                z = 0.0
+                th = 0.0
+                if (key == '\x03'):
+                    break
+
+            if stamped:
+                twist_msg.header.stamp = node.get_clock().now().to_msg()
+
+            twist.linear.x = x * speed
+            twist.linear.y = y * speed
+            twist.linear.z = z * speed
+            twist.angular.x = 0.0
+            twist.angular.y = 0.0
+            twist.angular.z = th * turn
+            pub.publish(twist_msg)
+
+    except Exception as e:
+        print(e)
+
+
+
+if __name__ == '__main__':
+    main()
+    spinner = threading.Thread(target=rclpy.spin, args=(node,))
+    spinner.start()
+    app.run(host='0.0.0.0')
+