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add small up or down to test controller

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Sem van der Hoeven
2023-05-09 08:43:56 +02:00
parent 5d07a5975f
commit 5aad5c4ce2
1 changed files with 10 additions and 1 deletions
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11
src/test_controls/test_controls/test_controller.py
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@@ -16,7 +16,7 @@ class TestController(Node):
self.get_logger().info('service not available, waiting again...') self.get_logger().info('service not available, waiting again...')
self.req = SetAttitude.Request() self.req = SetAttitude.Request()
self.get_logger().info("Controls:\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nShift - down\nN - emergency stop\nEsc - exit") self.get_logger().info("Controls:\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nZ - down\nV - Down nudge\nF - Up nudge\nN - emergency stop\nEsc - exit")
def spin(self): def spin(self):
while rclpy.ok(): while rclpy.ok():
@@ -73,10 +73,19 @@ class TestController(Node):
self.get_logger().info('up') self.get_logger().info('up')
self.send_request(pitch=0.0, yaw=0.0, self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=0.05) roll=0.0, thrust=0.05)
if key == 'v':
self.get_logger().info('down a little')
self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.01)
if key == 'f':
self.get_logger().info('up a little')
self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.01)
if key == 'n': if key == 'n':
self.get_logger().info('stop') self.get_logger().info('stop')
self.send_request(pitch=0.0, yaw=0.0, self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=0.0) roll=0.0, thrust=0.0)
# else: # else:
# try: # try:
# # known keys like spacebar, ctrl # # known keys like spacebar, ctrl