Merge pull request #6 from rogy-AquaLab/joystick

Joystick

device/joystick/README.md

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+# Joystick
+
+ゲームコントローラー
+
+## Nodes
+
+- `Joystick`: ゲームコントローラーを読み取って`joystick`topicに`sensor_msgs/msg/Joy`型でpublishする
+
+## Executables
+
+- `joystick`: `Joystick`Nodeを起動する
+
+## Launches
+
+- `joystick_launch.py`: `Joystick`Nodeを`device`namespace下で起動する

device/joystick/joystick/joystick.py

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+import sys
+
+import pygame
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Joy
+
+
+class Joystick(Node):
+ def __init__(self):
+ super().__init__("joystick")
+ self._timer = self.create_timer(0.5, self._timer_callback)
+ self._joy_publisher = self.create_publisher(Joy, "joystick", 10)
+ # TODO: ここparameterで変えられるようにしたい
+ self._joystick = pygame.joystick.Joystick(0)
+ # logging
+ name = self._joystick.get_name()
+ self.get_logger().info(f"Using controller: {name}")
+
+ def _timer_callback(self):
+ self.get_logger().info("tick")
+ pygame.event.pump()
+
+ numaxes = self._joystick.get_numaxes()
+ numbuttons = self._joystick.get_numbuttons()
+ self.get_logger().info(f"Found {numaxes} axes and {numbuttons} buttons")
+
+ axes = [self._joystick.get_axis(i) for i in range(numaxes)]
+ buttons = [int(self._joystick.get_button(i)) for i in range(numbuttons)]
+ msg = Joy(axes=axes, buttons=buttons)
+ self._joy_publisher.publish(msg)
+
+
+def main(args=sys.argv):
+ rclpy.init(args=args)
+ pygame.init()
+ node = Joystick()
+ rclpy.spin(node)
+ node.destroy_node()
+ pygame.quit()
+ rclpy.shutdown()
+
+
+if __name__ == "__main__":
+ main()

device/joystick/launch/joystick_launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(package="joystick", executable="joystick", namespace="device")
+ ])

device/joystick/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>joystick</name>
+ <version>0.1.0</version>
+ <description>ゲームコントローラー</description>
+ <maintainer email="[email protected]">h1rono</maintainer>
+ <license>MIT</license>
+
+ <exec_depend>rclpy</exec_depend>
+ <exec_depend>sensor_msgs</exec_depend>
+ <exec_depend>python3-pygame</exec_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>

device/joystick/setup.cfg

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+[develop]
+script_dir=$base/lib/joystick
+[install]
+install_scripts=$base/lib/joystick

device/joystick/setup.py

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+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'joystick'
+
+setup(
+ name=package_name,
+ version='0.1.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*')))
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='h1rono',
+ maintainer_email='[email protected]',
+ description='ゲームコントローラー',
+ license='MIT',
+ tests_require=[],
+ entry_points={
+ 'console_scripts': [
+ "joystick = joystick.joystick:main"
+ ],
+ },
+)