head_lift_joy.py 文件源码

def _joy_cb(self, msg):
        """
        The joy/game-pad message callback.

        :type   msg:    Joy
        :param  msg:    The incoming joy message.

        """
        if msg.buttons[self._head_button] == 1:
            angle_deg = ((msg.axes[self._head_axes] + 1.0) / 2.0) * SUM_HEAD_ANGLE + MIN_HEAD_ANGLE
            rospy.logdebug('Send head angle: {} degrees.'.format(angle_deg))
            self._head_pub.publish(data=angle_deg)

        if msg.buttons[self._lift_button] == 1:
            lift_mm = abs(msg.axes[self._lift_axes]) * SUM_LIFT_HEIGHT + MIN_LIFT_HEIGHT
            rospy.logdebug('Send lift height: {} mm.'.format(lift_mm))
            self._lift_pub.publish(data=abs(msg.axes[self._lift_axes]))