added virtual_joystick

packages/virtual_joystick/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(virtual_joystick)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  duckietown_msgs # Every duckietown packages should use this.
+)
+
+
+catkin_python_setup()
+
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)

packages/virtual_joystick/launch/virtual_joystick_cli.launch

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="veh" doc="name of the vehicle"/>
+    <arg name="pkg_name" value="virtual_joystick"/>
+    <arg name="node_name" default="virtual_joystick"/>
+
+    <group ns="$(arg veh)">
+        <remap from="$(arg node_name)/joy" to="joy" />
+        <node pkg="$(arg pkg_name)" type="$(arg node_name)_cli.py" name="$(arg node_name)" output="screen" />
+    </group>
+</launch>

packages/virtual_joystick/launch/virtual_joystick_gui.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="veh" doc="name of the vehicle"/>
+    <arg name="pkg_name" value="virtual_joystick"/>
+    <arg name="node_name" default="virtual_joystick"/>
+
+    <group ns="$(arg veh)">
+        <remap from="$(arg node_name)/joy" to="joy" />
+        <remap from="$(arg node_name)/intersection_go" to="coordinator_node/intersection_go" />
+        <remap from="$(arg node_name)/emergency_stop" to="wheels_driver_node/emergency_stop" />
+        <node pkg="$(arg pkg_name)" type="$(arg node_name)_gui.py" name="$(arg node_name)" output="screen" args="$(arg veh)" />
+    </group>
+</launch>

packages/virtual_joystick/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+  <name>virtual_joystick</name>
+  <version>1.0.0</version>
+  <description>
+    A package for launching the virtual joystick in gui or cli
+</description>
+
+<author email="[email protected]">Mack</author>
+<maintainer email="[email protected]">Mack</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>duckietown_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+
+
+  <run_depend>duckietown_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+
+</package>

packages/virtual_joystick/scripts/virtual_joystick_cli.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python2
+import rospy
+
+from sensor_msgs.msg import Joy
+
+
+# Button List index of joy.buttons array:
+#   0: A
+#   1: B
+#   2: X
+#   3: Y
+#   4: Left Back
+#   5: Right Back
+#   6: Back
+#   7: Start
+#   8: Logitek
+#   9: Left joystick
+#   10: Right joystick
+
+
+# TODO: This should be a class
+
+def keyCatcher():
+    rospy.init_node('joy-cli')
+    pub = rospy.Publisher('~joy', Joy, queue_size=1)
+
+    while not rospy.is_shutdown():
+        axes = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        buttons = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+        direction = raw_input(
+            'Enter direction [a,w,s,d] to move; '
+            '[l] to start lane following; '
+            '[q] to stop lane following; '
+            '[e] to toggle emergency stop; '
+            'then press enter to execute --> ')
+        if direction == 'w':
+            axes[1] = 1.0
+        elif direction == 's':
+            axes[1] = -1.0
+        elif direction == 'd':
+            axes[3] = -1.0
+        elif direction == 'a':
+            axes[3] = 1.0
+        elif direction == 'l':
+            buttons[7] = 1
+        elif direction == 'q':
+            buttons[6] = 1
+        elif direction == 'e':
+            buttons[3] = 1
+        # publish joy message
+        msg = Joy(header=None, axes=axes, buttons=buttons)
+        pub.publish(msg)
+        rospy.sleep(0.5)
+
+
+if __name__ == '__main__':
+    try:
+        keyCatcher()
+    except rospy.ROSInterruptException:
+        pass
+