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[FEAT] Add new env. var. to control speed
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The env. var. is set in .env file and the format is like
WHEEL_SPEED=3
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@otischung
otischung committed Nov 27, 2023
1 parent 85543af commit 42f0b71
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Showing 7 changed files with 59 additions and 44 deletions.
2 changes: 1 addition & 1 deletion car_control.sh
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@@ -1 +1 @@
docker run -it --rm --device=/dev/usb_front_wheel --device=/dev/usb_rear_wheel --network host ghcr.io/otischung/pros_car:latest /bin/bash
docker run -it --rm --device=/dev/usb_front_wheel --device=/dev/usb_rear_wheel --network host --env-file ./.env ghcr.io/otischung/pros_car:latest /bin/bash
15 changes: 5 additions & 10 deletions docker-compose.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,11 @@ services:
tty: false
env_file:
- .env
environment:
- ROS_DOMAIN_ID
- SERIAL_DEV_DEFAULT
- SERIAL_FRONT_DEFAULT
- SERIAL_LIDAR_DEFAULT
# environment:
# - ROS_DOMAIN_ID
# - SERIAL_DEV_DEFAULT
# - SERIAL_FRONT_DEFAULT
# - SERIAL_LIDAR_DEFAULT
networks:
- my_bridge_network
# privileged: true
Expand All @@ -27,11 +27,6 @@ services:
tty: true # docker run -t
env_file:
- .env
environment:
- ROS_DOMAIN_ID
- SERIAL_DEV_DEFAULT
- SERIAL_FRONT_DEFAULT
- SERIAL_LIDAR_DEFAULT
networks:
- my_bridge_network
# privileged: true
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20 changes: 12 additions & 8 deletions src/pros_car_py/pros_car_py/carA_keyboard.py
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Expand Up @@ -9,11 +9,13 @@
import threading
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectoryPoint
from pros_car_py.env import *


class CarAKeyboardController(Node):
def __init__(self, stdscr):
def __init__(self, stdscr, vel: float = 10):
super().__init__('car_A_keyboard')
self.vel = vel

# Subscriber
self.subscription = self.create_subscription(
Expand Down Expand Up @@ -65,8 +67,9 @@ def _pub_control(self):

self.get_logger().info(f'publish {control_msg}')

def run(self):

def run(self, vel=None):
if vel is None:
vel = self.vel
self.stdscr.nodelay(True)
try:
while rclpy.ok():
Expand All @@ -77,13 +80,13 @@ def run(self):
self.key_in_count += 1
self.print_basic_info(c)
if c == ord('w'):
self.handle_key_w()
self.handle_key_w(vel)
elif c == ord('a'):
self.handle_key_a()
self.handle_key_a(vel)
elif c == ord('s'):
self.handle_key_s()
self.handle_key_s(vel)
elif c == ord('d'):
self.handle_key_d()
self.handle_key_d(vel)
elif c == ord('z'):
self.handle_key_z()
elif c == ord('i'):
Expand Down Expand Up @@ -226,7 +229,8 @@ def pub_arm(self):
def main(args=None):
rclpy.init(args=args)
stdscr = curses.initscr()
node = CarAKeyboardController(stdscr)
vel = 10 if WHEEL_SPEED is None else float(WHEEL_SPEED)
node = CarAKeyboardController(stdscr, vel=vel)

# Spin the node in a separate thread
spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
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19 changes: 12 additions & 7 deletions src/pros_car_py/pros_car_py/carB_keyboard.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,11 +9,13 @@
import threading
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectoryPoint
from pros_car_py.env import *


class CarBKeyboardController(Node):
def __init__(self, stdscr):
def __init__(self, stdscr, vel: float = 10):
super().__init__('car_B_keyboard')
self.vel = vel

# Subscriber
self.subscription = self.create_subscription(
Expand Down Expand Up @@ -64,7 +66,9 @@ def _pub_control(self):

self.get_logger().info(f'publish {control_msg}')

def run(self):
def run(self, vel=None):
if vel is None:
vel = self.vel
self.stdscr.nodelay(True)
try:
while rclpy.ok():
Expand All @@ -75,13 +79,13 @@ def run(self):
self.key_in_count += 1
self.print_basic_info(c)
if c == ord('w'):
self.handle_key_w()
self.handle_key_w(vel)
elif c == ord('a'):
self.handle_key_a()
self.handle_key_a(vel)
elif c == ord('s'):
self.handle_key_s()
self.handle_key_s(vel)
elif c == ord('d'):
self.handle_key_d()
self.handle_key_d(vel)
elif c == ord('z'):
self.handle_key_z()
elif c == ord('q'): # Exit on 'q'
Expand Down Expand Up @@ -164,7 +168,8 @@ def handle_key_z(self):
def main(args=None):
rclpy.init(args=args)
stdscr = curses.initscr()
node = CarBKeyboardController(stdscr)
vel = 10 if WHEEL_SPEED is None else float(WHEEL_SPEED)
node = CarBKeyboardController(stdscr, vel=vel)

# Spin the node in a separate thread
spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
Expand Down
23 changes: 14 additions & 9 deletions src/pros_car_py/pros_car_py/carC_keyboard.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,11 +9,13 @@
import threading
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectoryPoint
from pros_car_py.env import *


class CarCKeyboardController(Node):
def __init__(self, stdscr):
def __init__(self, stdscr, vel: float = 10):
super().__init__('car_C_keyboard')
self.vel = vel

# Subscriber
self.subscription = self.create_subscription(
Expand Down Expand Up @@ -83,7 +85,9 @@ def _pub_control(self):
self.get_logger().info(f'publish {control_msg}')
self.get_logger().info(f'publish to forward {control_msg_forward}')

def run(self):
def run(self, vel=None):
if vel is None:
vel = self.vel
self.stdscr.nodelay(True)
try:
while rclpy.ok():
Expand All @@ -94,17 +98,17 @@ def run(self):
self.key_in_count += 1
self.print_basic_info(c)
if c == ord('w'):
self.handle_key_w()
self.handle_key_w(vel)
elif c == ord('a'):
self.handle_key_a()
self.handle_key_a(vel)
elif c == ord('s'):
self.handle_key_s()
self.handle_key_s(vel)
elif c == ord('d'):
self.handle_key_d()
self.handle_key_d(vel)
elif c == ord('e'):
self.handle_key_e()
self.handle_key_e(vel)
elif c == ord('r'):
self.handle_key_r()
self.handle_key_r(vel)
elif c == ord('z'):
self.handle_key_z()
elif c == ord('q'): # Exit on 'q'
Expand Down Expand Up @@ -213,7 +217,8 @@ def handle_key_z(self):
def main(args=None):
rclpy.init(args=args)
stdscr = curses.initscr()
node = CarCKeyboardController(stdscr)
vel = 10 if WHEEL_SPEED is None else float(WHEEL_SPEED)
node = CarCKeyboardController(stdscr, vel=vel)

# Spin the node in a separate thread
spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
Expand Down
23 changes: 14 additions & 9 deletions src/pros_car_py/pros_car_py/carD_keyboard.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,11 +9,13 @@
import threading
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectoryPoint
from pros_car_py.env import *


class CarDKeyboardController(Node):
def __init__(self, stdscr):
def __init__(self, stdscr, vel: float = 10):
super().__init__('car_D_keyboard')
self.vel = vel

# Subscriber
self.subscription = self.create_subscription(
Expand Down Expand Up @@ -83,7 +85,9 @@ def _pub_control(self):
self.get_logger().info(f'publish {control_msg}')
self.get_logger().info(f'publish to forward {control_msg_forward}')

def run(self):
def run(self, vel=None):
if vel is None:
vel = self.vel
self.stdscr.nodelay(True)
try:
while rclpy.ok():
Expand All @@ -94,17 +98,17 @@ def run(self):
self.key_in_count += 1
self.print_basic_info(c)
if c == ord('w'):
self.handle_key_w()
self.handle_key_w(vel)
elif c == ord('a'):
self.handle_key_a()
self.handle_key_a(vel)
elif c == ord('s'):
self.handle_key_s()
self.handle_key_s(vel)
elif c == ord('d'):
self.handle_key_d()
self.handle_key_d(vel)
elif c == ord('e'):
self.handle_key_e()
self.handle_key_e(vel)
elif c == ord('r'):
self.handle_key_r()
self.handle_key_r(vel)
elif c == ord('z'):
self.handle_key_z()
elif c == ord('q'): # Exit on 'q'
Expand Down Expand Up @@ -213,7 +217,8 @@ def handle_key_z(self):
def main(args=None):
rclpy.init(args=args)
stdscr = curses.initscr()
node = CarDKeyboardController(stdscr)
vel = 10 if WHEEL_SPEED is None else float(WHEEL_SPEED)
node = CarDKeyboardController(stdscr, vel=vel)

# Spin the node in a separate thread
spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
Expand Down
1 change: 1 addition & 0 deletions src/pros_car_py/pros_car_py/env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,5 +2,6 @@

SERIAL_DEV_DEFAULT = os.getenv('SERIAL_DEV_DEFAULT', '/dev/usb_rear_wheel') # replace with your default value
SERIAL_DEV_FORWARD_DEFAULT = os.getenv('SERIAL_DEV_FORWARD_DEFAULT', '/dev/usb_front_wheel') # replace with your default value
WHEEL_SPEED = os.getenv('WHEEL_SPEED')
# SERIAL_BACK_DEFAULT = os.getenv('SERIAL_BACK_DEFAULT', '/dev/ttyUSB0') # replace with your default value
# SERIAL_FRONT_DEFAULT = os.getenv('SERIAL_FRONT_DEFAULT', '/dev/ttyUSB1') # replace with your default value

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