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parameter added to switch between Twist or TwistStamped on mouse_teleop #100

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parameter added to switch between Twist or TwistStamped on mouse_teleop #100

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1 change: 1 addition & 0 deletions mouse_teleop/config/mouse_teleop.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,4 @@ mouse_teleop:
frequency: 10.0
scale : 1.0
holonomic: False
twist_stamped: True
16 changes: 12 additions & 4 deletions mouse_teleop/mouse_teleop/mouse_teleop.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@
import signal
import tkinter

from geometry_msgs.msg import TwistStamped, Vector3
from geometry_msgs.msg import Twist, TwistStamped, Vector3
import numpy
import rclpy
from rclpy.node import Node
Expand All @@ -56,9 +56,15 @@ def __init__(self):
self._frequency = self.declare_parameter('frequency', 0.0).value
self._scale = self.declare_parameter('scale', 1.0).value
self._holonomic = self.declare_parameter('holonomic', False).value
self._twist_stamped = self.declare_parameter('twist_stamped', True).value

# Create twist publisher:
self._pub_cmd = self.create_publisher(TwistStamped, 'mouse_vel', 10)
if self._twist_stamped:
print("_twist_stamped true!")
self._pub_cmd = self.create_publisher(TwistStamped, 'mouse_vel', 10)
else:
print("_twist_stamped false!")
self._pub_cmd = self.create_publisher(Twist, 'mouse_vel', 10)

# Initialize twist components to zero:
self._v_x = 0.0
Expand Down Expand Up @@ -256,7 +262,10 @@ def _send_motion(self):
twist_stamped.twist.linear = lin
twist_stamped.twist.angular = ang

self._pub_cmd.publish(twist_stamped)
if self._twist_stamped:
self._pub_cmd.publish(twist_stamped)
else:
self._pub_cmd.publish(twist_stamped.twist)

def _publish_twist(self):
self._send_motion()
Expand Down Expand Up @@ -292,7 +301,6 @@ def _change_to_motion_angular(self, event):
def main():
try:
rclpy.init()

node = MouseTeleop()

node.destroy_node()
Expand Down