init
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commit
6b61f3e945
26
package.xml
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26
package.xml
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<?xml version="1.0"?>
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<package format="2">
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<name>twist_web</name>
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<version>1.0.0</version>
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<description>
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A robot-agnostic teleoperation node in the browser to output Twist
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messages.
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</description>
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<maintainer email="git@nilsschulte.de">Nils Schulte</maintainer>
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<license>BSD License 2.0</license>
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<autor email="git@nilsschulte.de">Nils Schulte</autor>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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4
setup.cfg
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setup.cfg
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[develop]
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script_dir=$base/lib/twist_web
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[install]
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install_scripts=$base/lib/twist_web
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38
setup.py
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setup.py
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from setuptools import setup
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package_name = 'twist_web'
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setup(
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name=package_name,
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version='2.3.2',
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packages=[],
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py_modules=[
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'twist_web'
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],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='Chris Lalancette',
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maintainer_email='clalancette@openrobotics.org',
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author='Graylin Trevor Jay, Austin Hendrix',
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keywords=['ROS'],
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classifiers=[
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'Intended Audience :: Developers',
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'License :: BSD',
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'Programming Language :: Python',
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'Topic :: Software Development',
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],
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description='A robot-agnostic teleoperation node to convert keyboard'
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'commands to Twist messages.',
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license='BSD',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'twist_web = twist_web:main'
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],
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},
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)
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194
twist_web.py
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twist_web.py
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# Copyright 2011 Brown University Robotics.
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# Copyright 2017 Open Source Robotics Foundation, Inc.
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# All rights reserved.
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#
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# Software License Agreement (BSD License 2.0)
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of the Willow Garage nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import sys
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import threading
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import geometry_msgs.msg
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import rclpy
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page= """
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<!DOCTYPE HTML>
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<html>
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<script src="http://bobboteck.github.io/joy/joy.js">
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</script>
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<script type="text/javascript">
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// Create JoyStick object into the DIV 'joyDiv'
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function httpGetAsync(theUrl, callback)
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{
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var xmlHttp = new XMLHttpRequest();
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xmlHttp.onreadystatechange = function() {
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if (xmlHttp.readyState == 4 && xmlHttp.status == 200)
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callback(xmlHttp.responseText);
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}
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xmlHttp.open("GET", theUrl, true); // true for asynchronous
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xmlHttp.send(null);
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}
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window.addEventListener("load", () => {
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joy = new JoyStick('joyDiv');
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setInterval(function(){
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joy.GetX();
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httpGetAsync("/update?x="+joy.GetX()+"&y="+joy.GetY(), () => {});
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}, 200);});
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</script>
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<body>
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<div id="joyDiv" style="width:500px;height:500px;margin-bottom:20px;"></div>
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</body>
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</html>
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"""
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moveBindings = {
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}
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speedBindings = {
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}
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from flask import Flask, request, redirect
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app = Flask(__name__)
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rclpy.init()
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node = rclpy.create_node('twist_web')
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@app.route("/")
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def hello_world():
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return page
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@app.route('/update', methods=['GET'])
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def handle_get():
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global twist_msg, twist, pub
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if request.method == 'GET':
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pos = (int(request.args['y']),int(request.args['x']))
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print(pos)
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if stamped:
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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twist.linear.x = pos[0] / 500
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twist.linear.y = 0.0
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twist.linear.z = 0.0
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twist.angular.x = 0.0
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twist.angular.y = 0.0
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twist.angular.z = -pos[1] /100
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pub.publish(twist_msg)
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return "ok"
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def main():
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global node, pub, spinner, TwistMsg, stamped, frame_id, twist, twist_msg
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# parameters
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stamped = node.declare_parameter('stamped', True).value
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frame_id = node.declare_parameter('frame_id', '').value
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if not stamped and frame_id:
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raise Exception("'frame_id' can only be set when 'stamped' is True")
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if stamped:
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TwistMsg = geometry_msgs.msg.TwistStamped
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else:
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TwistMsg = geometry_msgs.msg.Twist
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twist_msg = TwistMsg()
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if stamped:
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twist = twist_msg.twist
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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twist_msg.header.frame_id = frame_id
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else:
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twist = twist_msg
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pub = node.create_publisher(TwistMsg, 'staubi_base_controller/cmd_vel', 10)
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speed = 0.5
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turn = 1.0
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x = 0.0
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y = 0.0
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z = 0.0
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th = 0.0
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status = 0.0
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if stamped:
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twist = twist_msg.twist
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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twist_msg.header.frame_id = frame_id
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else:
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twist = twist_msg
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try:
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return
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print(msg)
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print(vels(speed, turn))
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while True:
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key = getKey(settings)
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if key in moveBindings.keys():
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x = moveBindings[key][0]
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y = moveBindings[key][1]
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z = moveBindings[key][2]
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th = moveBindings[key][3]
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elif key in speedBindings.keys():
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speed = speed * speedBindings[key][0]
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turn = turn * speedBindings[key][1]
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print(vels(speed, turn))
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if (status == 14):
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print(msg)
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status = (status + 1) % 15
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else:
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x = 0.0
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y = 0.0
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z = 0.0
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th = 0.0
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if (key == '\x03'):
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break
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if stamped:
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twist_msg.header.stamp = node.get_clock().now().to_msg()
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twist.linear.x = x * speed
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twist.linear.y = y * speed
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twist.linear.z = z * speed
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twist.angular.x = 0.0
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twist.angular.y = 0.0
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twist.angular.z = th * turn
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pub.publish(twist_msg)
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except Exception as e:
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print(e)
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if __name__ == '__main__':
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main()
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spinner = threading.Thread(target=rclpy.spin, args=(node,))
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spinner.start()
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app.run(host='0.0.0.0')
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