Created
March 13, 2020 13:06
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diff --git a/kobuki_keyop/src/keyop_core.cpp b/kobuki_keyop/src/keyop_core.cpp | |
index 62cd0c46..9e76ff15 100644 | |
--- a/kobuki_keyop/src/keyop_core.cpp | |
+++ b/kobuki_keyop/src/keyop_core.cpp | |
@@ -271,7 +271,7 @@ void KeyOpCore::keyboardInputLoop() | |
*/ | |
void KeyOpCore::remoteKeyInputReceived(const kobuki_msgs::KeyboardInput& key) | |
{ | |
- processKeyboardInput(key.pressed_key); | |
+ processKeyboardInput(key.pressedKey); | |
} | |
/** | |
@@ -290,27 +290,27 @@ void KeyOpCore::processKeyboardInput(char c) | |
*/ | |
switch (c) | |
{ | |
- case kobuki_msgs::KeyboardInput::KEYCODE_LEFT: | |
+ case kobuki_msgs::KeyboardInput::KeyCode_Left: | |
{ | |
incrementAngularVelocity(); | |
break; | |
} | |
- case kobuki_msgs::KeyboardInput::KEYCODE_RIGHT: | |
+ case kobuki_msgs::KeyboardInput::KeyCode_Right: | |
{ | |
decrementAngularVelocity(); | |
break; | |
} | |
- case kobuki_msgs::KeyboardInput::KEYCODE_UP: | |
+ case kobuki_msgs::KeyboardInput::KeyCode_Up: | |
{ | |
incrementLinearVelocity(); | |
break; | |
} | |
- case kobuki_msgs::KeyboardInput::KEYCODE_DOWN: | |
+ case kobuki_msgs::KeyboardInput::KeyCode_Down: | |
{ | |
decrementLinearVelocity(); | |
break; | |
} | |
- case kobuki_msgs::KeyboardInput::KEYCODE_SPACE: | |
+ case kobuki_msgs::KeyboardInput::KeyCode_Space: | |
{ | |
resetVelocity(); | |
break; | |
diff --git a/kobuki_node/src/library/slot_callbacks.cpp b/kobuki_node/src/library/slot_callbacks.cpp | |
index 21d57788..2c41c266 100644 | |
--- a/kobuki_node/src/library/slot_callbacks.cpp | |
+++ b/kobuki_node/src/library/slot_callbacks.cpp | |
@@ -275,9 +275,9 @@ void KobukiRos::publishButtonEvent(const ButtonEvent &event) | |
default: break; | |
} | |
switch(event.button) { | |
- case(ButtonEvent::Button0) : { msg->button = kobuki_msgs::ButtonEvent::BUTTON0; break; } | |
- case(ButtonEvent::Button1) : { msg->button = kobuki_msgs::ButtonEvent::BUTTON1; break; } | |
- case(ButtonEvent::Button2) : { msg->button = kobuki_msgs::ButtonEvent::BUTTON2; break; } | |
+ case(ButtonEvent::Button0) : { msg->button = kobuki_msgs::ButtonEvent::Button0; break; } | |
+ case(ButtonEvent::Button1) : { msg->button = kobuki_msgs::ButtonEvent::Button1; break; } | |
+ case(ButtonEvent::Button2) : { msg->button = kobuki_msgs::ButtonEvent::Button2; break; } | |
default: break; | |
} | |
button_event_publisher.publish(msg); | |
diff --git a/kobuki_testsuite/scripts/gyro_perf.py b/kobuki_testsuite/scripts/gyro_perf.py | |
index d2e1eb3f..d5139336 100755 | |
--- a/kobuki_testsuite/scripts/gyro_perf.py | |
+++ b/kobuki_testsuite/scripts/gyro_perf.py | |
@@ -254,13 +254,13 @@ class Tester(object): | |
def buttonCallback(self,data): | |
if rospy.is_shutdown(): return | |
- if data.button == ButtonEvent.BUTTON0 and data.state == ButtonEvent.RELEASED: | |
+ if data.button == ButtonEvent.Button0 and data.state == ButtonEvent.RELEASED: | |
#if self.debug: print 'button0 pressed' | |
self.triggered=True | |
return | |
- #if data.button == ButtonEvent.BUTTON1 and data.state == ButtonEvent.RELEASED: | |
+ #if data.button == ButtonEvent.Button1 and data.state == ButtonEvent.RELEASED: | |
# if self.debug: print 'button1 pressed'; return | |
- #if data.button == ButtonEvent.BUTTON2 and data.state == ButtonEvent.RELEASED: | |
+ #if data.button == ButtonEvent.Button2 and data.state == ButtonEvent.RELEASED: | |
# if self.debug: print 'button2 pressed'; return | |
if __name__ == '__main__': | |
diff --git a/kobuki_testsuite/scripts/test_events.py b/kobuki_testsuite/scripts/test_events.py | |
index 4b6b88bd..fa159467 100755 | |
--- a/kobuki_testsuite/scripts/test_events.py | |
+++ b/kobuki_testsuite/scripts/test_events.py | |
@@ -46,10 +46,10 @@ def ButtonEventCallback(data): | |
if ( data.state == ButtonEvent.RELEASED ) : | |
state = "released" | |
else: | |
- state = "pressed" | |
- if ( data.button == ButtonEvent.BUTTON0 ) : | |
+ state = "pressed" | |
+ if ( data.button == ButtonEvent.Button0 ) : | |
button = "B0" | |
- elif ( data.button == ButtonEvent.BUTTON1 ) : | |
+ elif ( data.button == ButtonEvent.Button1 ) : | |
button = "B1" | |
else: | |
button = "B2" | |
@@ -59,7 +59,7 @@ def BumperEventCallback(data): | |
if ( data.state == BumperEvent.RELEASED ) : | |
state = "released" | |
else: | |
- state = "pressed" | |
+ state = "pressed" | |
if ( data.bumper == BumperEvent.LEFT ) : | |
bumper = "Left" | |
elif ( data.bumper == BumperEvent.CENTER ) : | |
@@ -67,23 +67,23 @@ def BumperEventCallback(data): | |
else: | |
bumper = "Right" | |
rospy.loginfo("%s bumper is %s."%(bumper, state)) | |
- | |
+ | |
def WheelDropEventCallback(data): | |
if ( data.state == WheelDropEvent.RAISED ) : | |
state = "raised" | |
else: | |
- state = "dropped" | |
+ state = "dropped" | |
if ( data.wheel == WheelDropEvent.LEFT ) : | |
wheel = "Left" | |
else: | |
wheel = "Right" | |
rospy.loginfo("%s wheel is %s."%(wheel, state)) | |
- | |
+ | |
def CliffEventCallback(data): | |
if ( data.state == CliffEvent.FLOOR ) : | |
state = "on the floor" | |
else: | |
- state = "on the cliff" | |
+ state = "on the cliff" | |
if ( data.sensor == CliffEvent.LEFT ) : | |
cliff = "Left" | |
elif ( data.sensor == CliffEvent.CENTER ) : | |
@@ -113,7 +113,7 @@ def InputEventCallback(data): | |
for val in data.values: | |
val_str = "%s, %s" % (val_str, str(val)) | |
rospy.loginfo("Digital input values: [" + val_str[2:] + "]") | |
- | |
+ | |
rospy.init_node("test_events") | |
rospy.Subscriber("/mobile_base/events/button",ButtonEvent,ButtonEventCallback) | |
rospy.Subscriber("/mobile_base/events/bumper",BumperEvent,BumperEventCallback) | |
@@ -134,4 +134,4 @@ print " - battery low/critical" | |
print " - digital input changes" | |
print "" | |
rospy.spin() | |
- | |
+ | |
diff --git a/kobuki_testsuite/scripts/test_input.py b/kobuki_testsuite/scripts/test_input.py | |
index 0ef12617..8dac7564 100755 | |
--- a/kobuki_testsuite/scripts/test_input.py | |
+++ b/kobuki_testsuite/scripts/test_input.py | |
@@ -73,35 +73,35 @@ def DigitalInputEventCallback(data): | |
global digitalS | |
digitalS = data.values | |
-button0 = { ButtonEvent.BUTTON0:0, ButtonEvent.BUTTON1:1, ButtonEvent.BUTTON2:2, } | |
+button0 = { ButtonEvent.Button0:0, ButtonEvent.Button1:1, ButtonEvent.Button2:2, } | |
button1 = { ButtonEvent.RELEASED:'Released', ButtonEvent.PRESSED:'Pressed ', } | |
-buttonS = [ 'Released', 'Released', 'Released', ] | |
+buttonS = [ 'Released', 'Released', 'Released', ] | |
def ButtonEventCallback(data): | |
buttonS[button0[data.button]]=button1[data.state] | |
-bumper0 = { BumperEvent.LEFT:0, BumperEvent.CENTER:1, BumperEvent.RIGHT:2, } | |
+bumper0 = { BumperEvent.LEFT:0, BumperEvent.CENTER:1, BumperEvent.RIGHT:2, } | |
bumper1 = { BumperEvent.RELEASED:'Released', BumperEvent.PRESSED:'Pressed ', } | |
-bumperS = [ 'Released', 'Released', 'Released', ] | |
+bumperS = [ 'Released', 'Released', 'Released', ] | |
def BumperEventCallback(data): | |
bumperS[bumper0[data.bumper]]=bumper1[data.state] | |
-wheel0 = { WheelDropEvent.LEFT:0, WheelDropEvent.RIGHT:1, } | |
+wheel0 = { WheelDropEvent.LEFT:0, WheelDropEvent.RIGHT:1, } | |
wheel1 = { WheelDropEvent.RAISED:'Raised ', WheelDropEvent.DROPPED:'Dropped', } | |
-wheelS = [ 'Raised ', 'Raised ', ] | |
+wheelS = [ 'Raised ', 'Raised ', ] | |
def WheelDropEventCallback(data): | |
wheelS[wheel0[data.wheel]]=wheel1[data.state] | |
-cliff0 = { CliffEvent.LEFT:0, CliffEvent.CENTER:1, CliffEvent.RIGHT:2, } | |
+cliff0 = { CliffEvent.LEFT:0, CliffEvent.CENTER:1, CliffEvent.RIGHT:2, } | |
cliff1 = { CliffEvent.FLOOR:'Floor', CliffEvent.CLIFF:'Cliff', } | |
cliffS = [ 'Floor', 'Floor', 'Floor',] | |
def CliffEventCallback(data): | |
cliffS[cliff0[data.sensor]]=cliff1[data.state] | |
-power0 = { | |
+power0 = { | |
PowerSystemEvent.UNPLUGGED:"Robot unplugged", | |
PowerSystemEvent.PLUGGED_TO_ADAPTER:"Robot plugged to adapter", | |
PowerSystemEvent.PLUGGED_TO_DOCKBASE:"Robot plugged to docking base", | |
@@ -118,7 +118,7 @@ def PowerEventCallback(data): | |
def clearing(): | |
curses.echo() | |
stdscr.keypad(0) | |
- curses.endwin() | |
+ curses.endwin() | |
if __name__ == '__main__': | |
@@ -129,7 +129,7 @@ if __name__ == '__main__': | |
curses.noecho() | |
stdscr.keypad(1) | |
stdscr.nodelay(1) | |
- | |
+ | |
rospy.init_node('test_input') | |
rospy.on_shutdown(clearing) | |
rospy.Subscriber("/mobile_base/sensors/imu_data", Imu, ImuCallback ) | |
@@ -140,7 +140,7 @@ if __name__ == '__main__': | |
rospy.Subscriber("/mobile_base/events/wheel_drop", WheelDropEvent, WheelDropEventCallback ) | |
rospy.Subscriber("/mobile_base/events/cliff", CliffEvent, CliffEventCallback ) | |
rospy.Subscriber("/mobile_base/events/power_system",PowerSystemEvent,PowerEventCallback) | |
- | |
+ | |
try: | |
while not rospy.is_shutdown(): | |
stdscr.addstr(7,3,str("Digital input: [%5s, %5s, %5s, %5s]"\ | |
@@ -154,8 +154,8 @@ if __name__ == '__main__': | |
key = stdscr.getch() | |
if key == ord('q'): | |
rospy.signal_shutdown('user request') | |
- | |
+ | |
clearing() | |
except: | |
clearing() | |
- traceback.print_exc() | |
+ traceback.print_exc() |
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