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Default to TwistStamped #90

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Default to TwistStamped #90

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b9abc28
Update key_teleop.py
bmagyar Sep 5, 2024
cc7154b
Update mouse_teleop.py
bmagyar Sep 5, 2024
e644b28
fix import
bmagyar Sep 11, 2024
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2 changes: 1 addition & 1 deletion key_teleop/key_teleop/key_teleop.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,7 @@ def __init__(self, interface):

self._interface = interface

self._publish_stamped_twist = self.declare_parameter('twist_stamped_enabled', False).value
self._publish_stamped_twist = self.declare_parameter('twist_stamped_enabled', True).value

if self._publish_stamped_twist:
self._pub_cmd = self.create_publisher(TwistStamped, 'key_vel',
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13 changes: 9 additions & 4 deletions mouse_teleop/mouse_teleop/mouse_teleop.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@
import signal
import tkinter

from geometry_msgs.msg import Twist, Vector3
from geometry_msgs.msg import TwistStamped, Vector3
import numpy
import rclpy
from rclpy.node import Node
Expand All @@ -58,7 +58,7 @@ def __init__(self):
self._holonomic = self.declare_parameter('holonomic', False).value

# Create twist publisher:
self._pub_cmd = self.create_publisher(Twist, 'mouse_vel', 10)
self._pub_cmd = self.create_publisher(TwistStamped, 'mouse_vel', 10)

# Initialize twist components to zero:
self._v_x = 0.0
Expand Down Expand Up @@ -241,8 +241,13 @@ def _send_motion(self):
lin = Vector3(x=v_x, y=v_y, z=0.0)
ang = Vector3(x=0.0, y=0.0, z=w)

twist = Twist(linear=lin, angular=ang)
self._pub_cmd.publish(twist)
twist_stamped = TwistStamped()
twist_stamped.header.stamp = rclpy.clock.Clock().now().to_msg()
twist_stamped.header.frame_id = 'mouse_teleop'
twist_stamped.twist.linear = lin
twist_stamped.twist.angular = ang

self._pub_cmd.publish(twist_stamped)

def _publish_twist(self):
self._send_motion()
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