gripper_joystick.py 文件源码

def main():
    """SDK Gripper Example: Joystick Control

    Use a game controller to control the grippers.

    Attach a game controller to your dev machine and run this
    example along with the ROS joy_node to control gripper
    using the joysticks and buttons. Be sure to provide
    the *joystick* type you are using as an argument to setup
    appropriate key mappings.

    Uses the intera_interface.Gripper class and the helper classes
    in intera_external_devices.Joystick.
    """
    epilog = """
See help inside the example with the "Start" button for controller
key bindings.
    """
    rp = intera_interface.RobotParams()
    valid_limbs = rp.get_limb_names()
    if not valid_limbs:
        rp.log_message(("Cannot detect any limb parameters on this robot. "
                        "Exiting."), "ERROR")
        return
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    required = parser.add_argument_group('required arguments')
    required.add_argument(
        '-j', '--joystick', required=True, choices=['xbox', 'logitech', 'ps3'],
        help='specify the type of joystick to use'
    )
    parser.add_argument(
        "-l", "--limb", dest="limb", default=valid_limbs[0],
        choices=valid_limbs,
        help="Limb on which to run the gripper joystick example"
    )
    args = parser.parse_args(rospy.myargv()[1:])

    joystick = None
    if args.joystick == 'xbox':
        joystick = intera_external_devices.joystick.XboxController()
    elif args.joystick == 'logitech':
        joystick = intera_external_devices.joystick.LogitechController()
    elif args.joystick == 'ps3':
        joystick = intera_external_devices.joystick.PS3Controller()
    else:
        # Should never reach this case with proper argparse usage
        parser.error("Unsupported joystick type '%s'" % (args.joystick))

    print("Initializing node... ")
    rospy.init_node("sdk_gripper_joystick")

    map_joystick(joystick, args.limb)