#!/usr/bin/env python # Copyright (c) 2011, Willow Garage, Inc. # All rights reserved. # # 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, Inc. 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 rospy from geometry_msgs.msg import Twist import sys, select, os import socket import time #socket import sys import socket import time HOST = '192.168.0.121' #137 PORT =8001 u = socket.socket(socket.AF_INET,socket.SOCK_DGRAM) u.bind((HOST, PORT)) #u.sendto('BOT',(HOST,PORT)) u.settimeout(0.05) if os.name == 'nt': import msvcrt else: import tty, termios #the max linear velocity of turtlebot BURGER_MAX_LIN_VEL = 0.22 BURGER_MAX_ANG_VEL = 2.84 WAFFLE_MAX_LIN_VEL = 0.26 WAFFLE_MAX_ANG_VEL = 1.82 #the increased value of velocity when you press the bottom LIN_VEL_STEP_SIZE = 0.01 ANG_VEL_STEP_SIZE = 0.1 msg = """ Control Your TurtleBot3! --------------------------- Moving around: w a s d x w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26) a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82) space key, s : force stop CTRL-C to quit """ e = """ Communications Failed """ def getKey(): if os.name == 'nt': return msvcrt.getch() tty.setraw(sys.stdin.fileno()) rlist, _, _ = select.select([sys.stdin], [], [], 0.1) if rlist: key = sys.stdin.read(1) else: key = '' try: data,addr = u.recvfrom(1024) print data #do something return data except socket.timeout: s102=0 termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) return key def vels(target_linear_vel, target_angular_vel): return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel) def makeSimpleProfile(output, input, slop): if input > output: output = min( input, output + slop ) elif input < output: output = max( input, output - slop ) else: output = input return output def constrain(input, low, high): if input < low: input = low elif input > high: input = high else: input = input return input def checkLinearLimitVelocity(vel): if turtlebot3_model == "burger": vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL) elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi": vel = constrain(vel, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL) else: vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL) return vel def checkAngularLimitVelocity(vel): if turtlebot3_model == "burger": vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL) elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi": vel = constrain(vel, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL) else: vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL) return vel if __name__=="__main__": if os.name != 'nt': settings = termios.tcgetattr(sys.stdin) rospy.init_node('turtlebot3_teleop') pub = rospy.Publisher('cmd_vel', Twist, queue_size=10) turtlebot3_model = rospy.get_param("model", "burger") status = 0 target_linear_vel = 0.0 target_angular_vel = 0.0 control_linear_vel = 0.0 control_angular_vel = 0.0 status=0 try: print(msg) while(1): key = getKey() if key == 'w' : target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE) status = status - 1 print(vels(target_linear_vel,target_angular_vel)) elif key == 'x' : target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE) status = status - 1 print(vels(target_linear_vel,target_angular_vel)) elif key == 'a' : target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE) status = status - 1 print(vels(target_linear_vel,target_angular_vel)) elif key == 'd' : target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE) status = status -1 print(vels(target_linear_vel,target_angular_vel)) elif key == ' ' or key == 's' : target_linear_vel = 0.0 control_linear_vel = 0.0 target_angular_vel = 0.0 control_angular_vel = 0.0 status = status -1 print(vels(target_linear_vel, target_angular_vel)) else: if (key == '\x03'): sock.close() break twist = Twist() control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0)) twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0 control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0)) twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel pub.publish(twist) except: print(e) finally: twist = Twist() twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0 twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0 pub.publish(twist) if os.name != 'nt': termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)