Commit @bde70deee1c534603b11f4b7aee6c0d643b37f19 - yjyoon/ros2_플레이스테이션

WATANABE Aoi 2023-09-19

Merge pull request #34 from HarvestX/feat/add-param

add apram and fix

@bde70deee1c534603b11f4b7aee6c0d643b37f19

2db79bb

bde70de

p9n_bringup/launch/teleop.launch.py

--- p9n_bringup/launch/teleop.launch.py

+++ p9n_bringup/launch/teleop.launch.py


         'hw_type', default_value=TextSubstitution(text='DualSense'))
     topic_name_arg = DeclareLaunchArgument(
         'topic_name', default_value=TextSubstitution(text='cmd_vel'))
+    linear_speed_arg = DeclareLaunchArgument(
+        'linear_speed', default_value=TextSubstitution(text='0.2'))
+    angular_speed_arg = DeclareLaunchArgument(
+        'angular_speed', default_value=TextSubstitution(text='0.6'))
 
     joy_container = ComposableNodeContainer(
         name='joy_container',

                 name='teleop_twist_joy_node',
                 namespace='',
                 parameters=[{
-                        'hw_type': LaunchConfiguration('hw_type')
+                        'hw_type': LaunchConfiguration('hw_type'),
+                        'linear_speed': LaunchConfiguration('linear_speed'),
+                        'angular_speed': LaunchConfiguration('angular_speed')
                 }],
                 remappings=[
                     ('cmd_vel', LaunchConfiguration('topic_name'))

 
     ld.add_action(hw_type_arg)
     ld.add_action(topic_name_arg)
+    ld.add_action(linear_speed_arg)
+    ld.add_action(angular_speed_arg)
 
     ld.add_action(joy_container)
 

2db79bb

bde70de

p9n_node/src/teleop_twist_joy_node.cpp

--- p9n_node/src/teleop_twist_joy_node.cpp

+++ p9n_node/src/teleop_twist_joy_node.cpp


   if (this->p9n_if_->isTiltedStickL()) {
     auto twist_msg = std::make_unique<Twist>();
     twist_msg->linear.set__x(this->linear_max_speed_ * this->p9n_if_->tiltedStickLY());
-    twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
+
+    if (twist_msg->linear.x > 0) {
+      twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
+    } else {
+      twist_msg->angular.set__z(-this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
+    }
     this->twist_pub_->publish(std::move(twist_msg));
 
     stopped = false;

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...	...	@@ -26,6 +26,10 @@
26	26	'hw_type', default_value=TextSubstitution(text='DualSense'))
27	27	topic_name_arg = DeclareLaunchArgument(
28	28	'topic_name', default_value=TextSubstitution(text='cmd_vel'))
	29	+ linear_speed_arg = DeclareLaunchArgument(
	30	+ 'linear_speed', default_value=TextSubstitution(text='0.2'))
	31	+ angular_speed_arg = DeclareLaunchArgument(
	32	+ 'angular_speed', default_value=TextSubstitution(text='0.6'))
29	33
30	34	joy_container = ComposableNodeContainer(
31	35	name='joy_container',
...	...	@@ -45,7 +49,9 @@
45	49	name='teleop_twist_joy_node',
46	50	namespace='',
47	51	parameters=[{
48		- 'hw_type': LaunchConfiguration('hw_type')
	52	+ 'hw_type': LaunchConfiguration('hw_type'),
	53	+ 'linear_speed': LaunchConfiguration('linear_speed'),
	54	+ 'angular_speed': LaunchConfiguration('angular_speed')
49	55	}],
50	56	remappings=[
51	57	('cmd_vel', LaunchConfiguration('topic_name'))
...	...	@@ -58,6 +64,8 @@
58	64
59	65	ld.add_action(hw_type_arg)
60	66	ld.add_action(topic_name_arg)
	67	+ ld.add_action(linear_speed_arg)
	68	+ ld.add_action(angular_speed_arg)
61	69
62	70	ld.add_action(joy_container)
63	71

...	...	@@ -68,7 +68,12 @@
68	68	if (this->p9n_if_->isTiltedStickL()) {
69	69	auto twist_msg = std::make_unique<Twist>();
70	70	twist_msg->linear.set__x(this->linear_max_speed_ * this->p9n_if_->tiltedStickLY());
71		- twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
	71	+
	72	+ if (twist_msg->linear.x > 0) {
	73	+ twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
	74	+ } else {
	75	+ twist_msg->angular.set__z(-this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
	76	+ }
72	77	this->twist_pub_->publish(std::move(twist_msg));
73	78
74	79	stopped = false;

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