teleop.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_s]):
                self.send_highway_start(1)

            if(keys[pygame.K_t]):
                self.send_highway_start(2)

            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
            if(keys[pygame.K_r]):
                state = 1
                self.send_record_state(state)
            elif(keys[pygame.K_q]):
                state = 2
                self.send_record_state(state)
            elif(keys[pygame.K_p]):
                state = 0
                self.send_record_state(state)

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