hardware_joystick_publisher.py 文件源码

def __init__(self):
        self.joy_pub = rospy.Publisher('sensors/joystick/1', Joy, queue_size=1)
        self.joy_pub2 = rospy.Publisher('sensors/joystick/2', Joy, queue_size=1)

        self.rospack = RosPack()

        self.rate = rospy.Rate(20)

        count = len(devices.gamepads)

        if count < 2:
            rospy.logerr("Sensors: Expecting 2 joysticks but found only {}, exiting".format(count))
            sys.exit(-1)

        gamepads = sorted(devices.gamepads, key=lambda pad: int(str(pad.name)[-1]))
        rospy.loginfo(gamepads)
        self.joysticks = [JoystickThread(pad) for pad in gamepads]
        [joystick.start() for joystick in self.joysticks]