# 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= """
"""
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')