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Additional info on state changes of buttons #62

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Additional info on state changes of buttons #62

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18a8c4b
Initializing a camera controller does not raise an exception, if the …
sven-bock Aug 12, 2015
9efbb00
On state change in addition to the state, the itb name, "button" or "…
sven-bock Aug 12, 2015
022d23e
On state change the name of the button is sent in addtion to its stat…
sven-bock Aug 12, 2015
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2 changes: 1 addition & 1 deletion src/baxter_interface/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ def __init__(self, name):

list_svc = rospy.ServiceProxy('/cameras/list', ListCameras)
rospy.wait_for_service('/cameras/list', timeout=10)
if not self._id in list_svc().cameras:
if not self._id in ["left_hand_camera","right_hand_camera","head_camera"]:
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The robot will now list all 3 cameras as services, so I don't see the benefit in hard-coding the camera names here.

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In the old SDK a roservice call /cameras/list listed you all available cameras. In the new version you get exactly the opened cameras which are left_hand_camera and right_hand_camera by default.

raise AttributeError(
("Cannot locate a service for camera name '{0}'. "
"Close a different camera first and try again.".format(self._id)))
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2 changes: 1 addition & 1 deletion src/baxter_interface/digital_io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ def _on_io_state(self, msg):

# trigger signal if changed
if old_state is not None and old_state != new_state:
self.state_changed(new_state)
self.state_changed(new_state,self._id)

@property
def is_output(self):
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6 changes: 3 additions & 3 deletions src/baxter_interface/navigator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -177,11 +177,11 @@ def _on_state(self, msg):
]
for i, signal in enumerate(buttons):
if old_state.buttons[i] != msg.buttons[i]:
signal(msg.buttons[i])
signal(msg.buttons[i],self._id,"button",i)

if old_state.wheel != msg.wheel:
diff = msg.wheel - old_state.wheel
if abs(diff % 256) < 127:
self.wheel_changed(diff % 256)
self.wheel_changed(diff % 256,self._id,"wheel",msg.wheel)
else:
self.wheel_changed(diff % (-256))
self.wheel_changed(diff % (-256),self._id,"wheel",msg.wheel)