96 lines
2.8 KiB
Markdown
96 lines
2.8 KiB
Markdown
# pspad
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Playstation like control pad to control turtlesim using roslibdart
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## How to use it
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### Start rosbridge
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```
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ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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```
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### Start turtlesim in another terminal
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```
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ros2 run turtlesim turtlesim_node
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```
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### Start flutter control pad
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```
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cd pspad
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flutter run -d linux
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```
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### Screenshot
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### How to use the control pad
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```
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void initState() {
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ros = Ros(url: host);
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cmdVelTopic = Topic(
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ros: ros,
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name: '/turtle1/cmd_vel',
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type: "geometry_msgs/msg/Twist",
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reconnectOnClose: true,
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queueLength: 10,
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queueSize: 10);
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ros.connect();
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super.initState();
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Timer.periodic(const Duration(milliseconds: 200), directionFired);
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}
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void leftCallback(int event) {
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leftButtonState = event;
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}
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void directionFired(Timer timer) {
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var linear = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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var angular = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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if (leftButtonState == -1) {
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linear = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': turnAngularVelocity};
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} else if (rightButtonState == -1) {
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linear = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': -turnAngularVelocity};
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} else if (forwardButtonState == -1) {
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linear = {'x': forwardVelocity, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': 0};
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} else if (backwardButtonState == -1) {
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linear = {'x': -forwardVelocity, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': 0};
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}
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var twist = {'linear': linear, 'angular': angular};
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if (lastDirectionTwist == twist &&
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twist['linear'] == {'x': 0.0, 'y': 0.0, 'z': 0.0} &&
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twist['angular'] == {'x': 0.0, 'y': 0.0, 'z': 0.0}) {
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return;
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}
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cmdVelTopic.publish(twist);
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lastDirectionTwist = twist;
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}
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Center(
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// Center is a layout widget. It takes a single child and positions it
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// in the middle of the parent.
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child: Container(
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margin: const EdgeInsets.all(50),
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child: Row(
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mainAxisAlignment: MainAxisAlignment.spaceBetween,
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children: <Widget>[
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DirectionPad(
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diameter: 200,
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leftCallback: leftCallback,
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rightCallback: rightCallback,
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forwardCallback: forwardCallback,
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backwardCallback: backwardCallback,
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),
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KeyPad(
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diameter: 200,
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squareCallback: squareCallback,
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circleCallback: circleCallback,
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triangleCallback: triangleCallback,
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crossCallback: crossCallback,
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),
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],
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),
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)
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),
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```
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