getch

getch is python tool

preliminary

installation

sudo python -m pip install getch

usage

import getch
import rospy
from std_msgs.msg import String #String message 
from std_msgs.msg import Int8


################################
# created by yuvaram
#[email protected]
################################


def keys():
    pub = rospy.Publisher('key',Int8,queue_size=10) # "key" is the publisher name
    rospy.init_node('keypress',anonymous=True)
    rate = rospy.Rate(10)#try removing this line ans see what happens
    while not rospy.is_shutdown():
        k=ord(getch.getch())# this is used to convert the keypress event in the keyboard or joypad , joystick to a ord value
        if ((k>=65)&(k<=68)|(k==115)|(k==113)|(k==97)):# to filter only the up , dowm ,left , right key /// this line can be removed or more key can be added to this
            rospy.loginfo(str(k))# to print on  terminal 
            pub.publish(k)#to publish
        #rospy.loginfo(str(k))

        #rate.sleep()

#s=115,e=101,g=103,b=98

if __name__=='__main__':
    try:
        keys()
    except rospy.ROSInterruptException:
        pass

key map

w=119 a=97 s=115 d=100 i=105 j=106 k=107 l=108 q=113 e=101 z=122 c=99

tele-operation

Synopsis

• teleop node getch => publish key
• waypoint publish node
• control node