#!/usr/bin/env?python

‘‘‘
ackermann_drive_joyop.py:
????A?ros?joystick?teleoperation?script?for?ackermann?steering?based?robots
‘‘‘

__author__?=?‘George?Kouros‘
__license__?=?‘GPLv3‘
__maintainer__?=?‘George?Kouros‘
__email__?=?‘gkourosg@yahoo.gr‘

import?rospy
from?ackermann_msgs.msg?import?AckermannDrive
from?sensor_msgs.msg?import?Joy
import?sys

class?AckermannDriveJoyop:

????def?__init__（self?args）:
????????if?len（args）?==?2:
????????????self.max_speed?=?float（args[0]）
????????????self.max_steering_angle?=?float（args[1]）
????????else:
????????????self.max_speed?=?0.2
????????????self.max_steering_angle?=?0.7

????????self.speed?=?0
????????self.steering_angle?=?0
????????self.joy_sub?=?rospy.Subscriber（‘/joy‘?Joy?self.joy_callback）
????????self.drive_pub?=?rospy.Publisher（‘a(chǎn)ckermann_cmd‘?AckermannDrive
?????????????????????????????????????????queue_size=1）
????????rospy.Timer（rospy.Duration（1.0/5.0）?self.pub_callback?oneshot=False）
????????rospy.loginfo（‘a(chǎn)ckermann_drive_joyop_node?initialized‘）

????def?joy_callback（self?joy_msg）:
????????self.speed?=?joy_msg.axes[2]?*?self.max_speed;
????????self.steering_angle?=?joy_msg.axes[3]?*?self.max_steering_angle;


????def?pub_callback（self?event）:
????????ackermann_cmd_msg?=?AckermannDrive（）
????????ackermann_cmd_msg.speed?=?self.speed
????????ackermann_cmd_msg.steering_angle?=?self.steering_angle
????????self.drive_pub.publish（ackermann_cmd_msg）
????????self.print_state（）

????def?print_state（self）:
????????sys.stderr.write（‘\x1b[2J\x1b[H‘）
????????rospy.loginfo（‘\x1b[1M\r‘
??????????????????????‘\033[34;1mSpeed:?\033[32;1m%0.2f?m/s?‘
??????????????????????‘\033[34;1mSteering?Angle:?\033[32;1m%0.1f?rad\033[0m‘
??????????????????????self.speed?self.steering_angle）

????def?finalize（self）:
????????rospy.loginfo（‘Halting?motors?aligning?wheels?and?exiting...‘）
????????ackermann_cmd_msg?=?AckermannDrive（）
????????ackermann_cmd_msg.speed?=?0
????????ackermann_cmd_msg.steering_angle?=?0
????????self.drive_pub.publish（ackermann_cmd_msg）
????????sys.exit（）

if?__name__?==?‘__main__‘:
????rospy.init_node（‘a(chǎn)ckermann_drive_joyop_node‘）
????joyop?=?AckermannDriveJoyop（sys.argv[1:3]）
????rospy.spin（）

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\
?????文件????????1462??2017-12-06?15:57??Automatic-Parking-master\README.md
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\
?????文件?????????515??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\CMakeLists.txt
?????文件????????7652??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\LICENSE
?????文件????????1045??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\README.md
?????文件?????????140??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\build.sh
?????文件?????????587??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\control
?????文件?????????656??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\debpkg.sh
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\launch\
?????文件?????????446??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\launch\ackermann_drive_joyop.launch
?????文件?????????451??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\launch\ackermann_drive_keyop.launch
?????文件?????????454??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\package.xml
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\scripts\
?????文件????????2192??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\scripts\ackermann_drive_joyop.py
?????文件????????4570??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_drive_teleop\scripts\ackermann_drive_keyop.py
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\
?????文件??????????63??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\.gitignore
?????文件?????????624??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\CHANGELOG.rst
?????文件?????????431??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\CMakeLists.txt
?????文件?????????366??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\README.rst
?????文件?????????163??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\mainpage.dox
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\msg\
?????文件????????1810??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\msg\AckermannDrive.msg
?????文件?????????120??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\msg\AckermannDriveStamped.msg
?????文件?????????794??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_msgs-master\package.xml
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_vehicle_description\
?????文件?????????124??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_vehicle_description\CMakeLists.txt
?????文件?????????247??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_vehicle_description\cmd_line
?????目錄???????????0??2017-12-06?15:57??Automatic-Parking-master\ackermann_model\ackermann_vehicle_description\launch\
............此處省略315個(gè)文件信息