joy_teleop.py 文件源码

def myround(x):
    return int(round(x) - .5) + (x > 0)

# Author: Andrew Dai
# This ROS Node converts Joystick inputs from the joy node
# into commands for turtlesim

# Receives joystick messages (subscribed to Joy topic)
# then converts the joysick inputs into Twist commands
# axis 1 aka left stick vertical controls linear speed
# axis 0 aka left stick horizonal controls angular speed