Merge pull request #397 from osrf/jessica/ball_shooter_teleop

Enable shooting the ball with the joystick

vrx_gazebo/CMakeLists.txt

@@ -54,6 +54,7 @@ add_message_files(
 add_service_files(
   FILES
   ColorSequence.srv
+  BallShooter.srv
 )
 
 # Python scripts setup

vrx_gazebo/config/diffdrive.yaml

@@ -35,3 +35,12 @@ teleop:
       - axis: 2
         target: data
         scale: -1.0
+
+  ball_shooter:
+    type: service
+    interface_type: vrx_gazebo/srv/BallShooter
+    service_name: /ball_shooter
+    service_request: 
+      shoot: true
+    buttons: [6]
+

vrx_gazebo/nodes/twist2thrust.py

@@ -5,6 +5,8 @@
 import rospy
 from geometry_msgs.msg import Twist
 from std_msgs.msg import Float32
+from vrx_gazebo.srv import BallShooter
+from std_msgs.msg import Empty
 
 class Node():
     def __init__(self,linear_scaling,angular_scaling,keyboard=False):
@@ -15,6 +17,7 @@ def __init__(self,linear_scaling,angular_scaling,keyboard=False):
         self.left_msg =None
         self.right_msg =None
         self.keyboard = keyboard
+        self.shooter_pub = None
 
     def callback(self,data):
         rospy.logdebug("RX: Twist "+rospy.get_caller_id())
@@ -45,6 +48,9 @@ def callback(self,data):
         self.left_pub.publish(self.left_msg)
         self.right_pub.publish(self.right_msg)
 
+    def handle_ball_shooter(self,req):
+        self.shooter_pub.publish()
+        return True
 
 if __name__ == '__main__':
 
@@ -71,6 +77,10 @@ def callback(self,data):
     # Subscriber
     rospy.Subscriber("cmd_vel",Twist,node.callback)
 
+    # Service - adds functionality to shoot via joystick
+    sub = rospy.Service('ball_shooter', BallShooter, node.handle_ball_shooter)
+    node.shooter_pub = rospy.Publisher("/wamv/shooters/ball_shooter/fire", Empty,queue_size=1)
+
     try:
         rospy.spin()
     except rospy.ROSInterruptException:

vrx_gazebo/srv/BallShooter.srv

@@ -0,0 +1,5 @@
+# Ball shooter service
+
+bool shoot
+---
+bool success