sem/5g_drone_ROS2
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add printing directions

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Sem van der Hoeven
2023-05-03 14:18:02 +02:00
parent 80fa83a42f
commit bb426cf1dc
1 changed files with 18 additions and 2 deletions
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20
src/test_controls/test_controls/test_controller.py
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@@ -1,7 +1,7 @@
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
from pynput.keyboard import KeyCode from pynput.keyboard import Key
from pynput import keyboard from pynput import keyboard
from drone_services.srv import SetAttitude from drone_services.srv import SetAttitude
@@ -41,7 +41,19 @@ class TestController(Node):
try: try:
char = getattr(key, 'char', None) char = getattr(key, 'char', None)
if isinstance(char, str): if isinstance(char, str):
self.get_logger().info('pressed ' + char) # self.get_logger().info('pressed ' + char)
if char == 'w':
self.get_logger().info('forward')
if char == 's':
self.get_logger().info('backward')
if char == 'a':
self.get_logger().info('left')
if char == 'd':
self.get_logger().info('right')
if char == 'q':
self.get_logger().info('rotate left')
if char == 'e':
self.get_logger().info('rotate right')
else: else:
try: try:
# known keys like spacebar, ctrl # known keys like spacebar, ctrl
@@ -52,6 +64,10 @@ class TestController(Node):
name = 'UNKNOWN' name = 'UNKNOWN'
vk = key.vk vk = key.vk
self.get_logger().info('pressed {} ({})'.format(name, vk)) self.get_logger().info('pressed {} ({})'.format(name, vk))
if vk == Key.space:
self.get_logger().info('up')
if vk == Key.shift:
self.get_logger().info('down')
except Exception as e: except Exception as e:
self.get_logger().error(str(e)) self.get_logger().error(str(e))
raise raise