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Add possibility of checking the negative value of the axis #94

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Add possibility of checking the negative value of the axis #94

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6b189e4
Add possibility of checking the negative value of the axis
thomaspeyrucain Jan 16, 2025
20fedf3
Fix flake8
thomaspeyrucain Jan 17, 2025
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40 changes: 40 additions & 0 deletions joy_teleop/config/joy_teleop_example.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@ joy_teleop:
interface_type: geometry_msgs/msg/TwistStamped
topic_name: cmd_vel
deadman_buttons: [4]
#deadman_axes: [0]
#deadman_axes_negative: [1]
axis_mappings:
linear-x:
axis: 1
Expand All @@ -30,6 +32,8 @@ joy_teleop:
interface_type: geometry_msgs/msg/Wrench
topic_name: base_link_wrench
deadman_buttons: [5, 7]
#deadman_axes: [0]
#deadman_axes_negative: [1]
axis_mappings:
force-x:
axis: 3
Expand All @@ -45,6 +49,8 @@ joy_teleop:
interface_type: geometry_msgs/msg/Twist
topic_name: cmd_vel
deadman_buttons: [0, 2]
#deadman_axes: [0]
#deadman_axes_negative: [1]
message_value:
linear-x:
value: 0.0
Expand All @@ -58,6 +64,8 @@ joy_teleop:
interface_type: std_msgs/msg/String
topic_name: chatter
deadman_buttons: [2]
#deadman_axes: [0]
#deadman_axes_negative: [1]
message_value:
data:
value: 'Hello'
Expand All @@ -67,6 +75,8 @@ joy_teleop:
interface_type: std_msgs/msg/UInt8MultiArray
topic_name: bytes
deadman_buttons: [5]
#deadman_axes: [0]
#deadman_axes_negative: [1]
message_value:
data:
value: [1,3,3,7]
Expand All @@ -76,6 +86,8 @@ joy_teleop:
interface_type: std_msgs/msg/UInt8MultiArray
topic_name: bytes
deadman_buttons: [3]
#deadman_axes: [0]
#deadman_axes_negative: [1]
message_value:
data:
value:
Expand All @@ -87,6 +99,8 @@ joy_teleop:
interface_type: std_msgs/msg/UInt8MultiArray
topic_name: array3
deadman_buttons: [0]
#deadman_axes: [0]
#deadman_axes_negative: [1]
axis_mappings:
data:
index: 0
Expand All @@ -113,6 +127,26 @@ joy_teleop:
action_goal:
increment_by: [0.05]
buttons: [4]
# axes: [4]
# axes_negative: [5]

torso_up_axes:
type: action
interface_type: teleop_tools_msgs/action/Increment
action_name: torso_controller/increment
action_goal:
increment_by: [0.05]
buttons: [4]
axes: [5]

torso_down_axes_negative:
type: action
interface_type: teleop_tools_msgs/action/Increment
action_name: torso_controller/increment
action_goal:
increment_by: [-0.05]
buttons: [4]
axes_negative: [5]

torso_down:
type: action
Expand All @@ -121,6 +155,8 @@ joy_teleop:
action_goal:
increment_by: [-0.05]
buttons: [6]
# axes: [4]
# axes_negative: [5]

fibonacci:
type: action
Expand All @@ -129,6 +165,8 @@ joy_teleop:
action_goal:
order: 5
buttons: [4, 5, 6, 7]
# axes: [4]
# axes_negative: [5]

add_two_ints:
type: service
Expand All @@ -138,3 +176,5 @@ joy_teleop:
a: 11
b: 31
buttons: [10]
# axes: [4]
# axes_negative: [5]
33 changes: 26 additions & 7 deletions joy_teleop/joy_teleop/joy_teleop.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,16 +77,23 @@ def get_parent_member(msg: typing.Any, member: str) -> typing.Tuple[typing.Any,
class JoyTeleopCommand:

def __init__(self, name: str, config: typing.Dict[str, typing.Any],
button_name: str, axes_name: str) -> None:
button_name: str, axes_name: str, axes_name_negative: str) -> None:

self.buttons: typing.List[str] = []
if button_name in config:
self.buttons = config[button_name]
self.axes: typing.List[str] = []
if axes_name in config:
self.axes = config[axes_name]
self.axes_negative: typing.List[str] = []
if axes_name_negative in config:
self.axes_negative = config[axes_name_negative]

if len(self.buttons) == 0 and len(self.axes) == 0:
raise JoyTeleopException("No buttons or axes configured for command '{}'".format(name))
if len(self.buttons) == 0 and len(self.axes) == 0 and len(self.axes_negative) == 0:
raise JoyTeleopException(
"No buttons, axes or negative_axes configured for command '{}'"
.format(name)
)

# Used to short-circuit the run command if there aren't enough buttons in the message.
self.min_button = 0
Expand All @@ -95,6 +102,9 @@ def __init__(self, name: str, config: typing.Dict[str, typing.Any],
self.min_axis = 0
if len(self.axes) > 0:
self.min_axis = int(min(self.axes))
self.min_negative_axis = 0
if len(self.axes_negative) > 0:
self.min_negative_axis = int(min(self.axes_negative))

# This can be used to "debounce" the message; if there are multiple presses of the buttons
# or axes, the command may only activate on the first one until it toggles again. But this
Expand All @@ -105,7 +115,8 @@ def update_active_from_buttons_and_axes(self, joy_state: sensor_msgs.msg.Joy) ->
self.active = True

if (self.min_button is not None and len(joy_state.buttons) <= self.min_button) and \
(self.min_axis is not None and len(joy_state.axes) <= self.min_axis):
(self.min_axis is not None and len(joy_state.axes) <= self.min_axis) and \
(self.min_negative_axis is not None and len(joy_state.axes) <= self.min_negative_axis):
# Not enough buttons or axes, so it can't possibly be a message for this command.
return

Expand All @@ -125,11 +136,19 @@ def update_active_from_buttons_and_axes(self, joy_state: sensor_msgs.msg.Joy) ->
# like (0, 10), but the length of the joystick buttons is only 1. Ignore these.
pass

for negative_axis in self.axes_negative:
try:
self.active &= joy_state.axes[negative_axis] == -1.0
except IndexError:
# An index error can occur if this command is configured for multiple buttons
# like (0, 10), but the length of the joystick buttons is only 1. Ignore these.
pass


class JoyTeleopTopicCommand(JoyTeleopCommand):

def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node) -> None:
super().__init__(name, config, 'deadman_buttons', 'deadman_axes')
super().__init__(name, config, 'deadman_buttons', 'deadman_axes', 'deadman_axes_negative')

self.name = name

Expand Down Expand Up @@ -265,7 +284,7 @@ def run(self, node: Node, joy_state: sensor_msgs.msg.Joy) -> None:
class JoyTeleopServiceCommand(JoyTeleopCommand):

def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node) -> None:
super().__init__(name, config, 'buttons', 'axes')
super().__init__(name, config, 'buttons', 'axes', 'axes_negative')

self.name = name

Expand Down Expand Up @@ -314,7 +333,7 @@ def run(self, node: Node, joy_state: sensor_msgs.msg.Joy) -> None:
class JoyTeleopActionCommand(JoyTeleopCommand):

def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node) -> None:
super().__init__(name, config, 'buttons', 'axes')
super().__init__(name, config, 'buttons', 'axes', 'axes_negative')

self.name = name

Expand Down
4 changes: 2 additions & 2 deletions joy_teleop/test/test_parameter_failures.py
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Original file line number Diff line number Diff line change
Expand Up @@ -102,8 +102,8 @@ def test_no_buttons_or_axes(self):
self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10))

self.assertEqual(joy_teleop_process.exit_code, 1)
self.assertTrue('JoyTeleopException: No buttons or axes configured for command'
in joy_teleop_process.output)
self.assertTrue('JoyTeleopException: No buttons, axes or negative_axes '
'configured for command ' in joy_teleop_process.output)

def test_teleop_no_message_value_or_axis_mappings(self):
parameters = {}
Expand Down
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