Welcome to ROS Robot Expansion Board repository
3. Robot keyboard control
3、Robot keyboard control
1、Program Running Example
After successfully installing the Rosmaster library and compiling the workspace, we can enter the following command to start the car keyboard control. Take our company's Rosmaster-X3 McNamm wheel as an example, input at the terminal,
#Drive trolley chassisros2 run yahboomcar_bringup Mcnamu_driver_X3#Enable keyboard controlros2 run yahboomcar_ctrl yahboom_keyboard2、Key Description
Direction control instruction table
Speed control command table
| button | speed change | button | speed change |
|---|---|---|---|
| [q] | Linear and angular velocity are both increased by 10% | [z] | Linear and angular velocities are both reduced by 10% |
| [w] | 10% increase in line speed only | [x] | 10% reduction in line speed only |
| [e] | 10% increase in angular velocity only | [c] | Only the angular velocity is reduced by 10% |
| [t] | Line speed X-axis/Y-axis direction switching | [s] | stop keyboard control |
3、Node Communication Diagram
Enter the following command to view the node communication diagram，
xxxxxxxxxxros2 run rqt_graph rqt_graph
4、Source code parsing
Keyboard control can only control the motion of the car, therefore, there is only one/cmd_ Vel speed publisher,
xxxxxxxxxxself.pub = self.create_publisher(Twist,'cmd_vel',1)
The program also defines two dictionaries to detect changes in keyboard letters when pressed,
xmoveBindings = {'i': (1, 0),'o': (1, -1),'j': (0, 1),'l': (0, -1),'u': (1, 1),',': (-1, 0),'.': (-1, 1),'m': (-1, -1),'I': (1, 0),'O': (1, -1),'J': (0, 1),'L': (0, -1),'U': (1, 1),'M': (-1, -1),}
speedBindings = {'Q': (1.1, 1.1),'Z': (.9, .9),'W': (1.1, 1),'X': (.9, 1),'E': (1, 1.1),'C': (1, .9),'q': (1.1, 1.1),'z': (.9, .9),'w': (1.1, 1),'x': (.9, 1),'e': (1, 1.1),'c': (1, .9),} Entering the while loop, the program will read the values pressed by the keyboard and make layer by layer judgments，
xxxxxxxxxxkey = yahboom_keyboard.getKey()if key=="t" or key == "T": xspeed_switch = not xspeed_switchelif key == "s" or key == "S":...if key in moveBindings.keys():...elif key in speedBindings.keys():..
Finally, based on multi-layer judgment, assign values to twist. linear. x, twist. linear. y, twist. regular. z and publish them.
xxxxxxxxxxif xspeed_switch: twist.linear.x = speed * xelse: twist.linear.y = speed * xtwist.angular.z = turn * thif not stop: yahboom_keyboard.pub.publish(twist)if stop:yahboom_keyboard.pub.publish(Twist())
Please refer to the following path for detailed code：~/driver_ws/src/yahboomcar_ctrl/yahboomcar_ctrl/yahboom_keyboard.py。