highway_telop.py 文件源码

def keyboard_loop(self):
        while not rospy.is_shutdown():
            acc = 0
            yaw = 0

            keys = pygame.key.get_pressed()
            for event in pygame.event.get():
                if event.type==pygame.QUIT:
                    sys.exit()

            if(keys[pygame.K_UP]):
                acc = self.acc
            elif(keys[pygame.K_DOWN]):
                acc = -self.acc
            if(keys[pygame.K_LEFT]):
                yaw = self.yaw
            elif(keys[pygame.K_RIGHT]):
                yaw = -self.yaw

            self.send_control(acc, yaw)
            self.rate.sleep()