moveit.servo_client.devices.ps4_dualshock

PS4 dualshock teleop device implementation.

Classes

`DualShockAxes`([LEFT_STICK_X, LEFT_STICK_Y, ...])
`DualShockButtons`([X, O, TRIANGLE, SQUARE, ...])
`PS4DualShock`([Axes, Buttons])	A dataclass to store device config.
`PS4DualShockTeleop`(ee_frame_name[, ...])	A class which encapsulates teleoperation functionalities for ps4 dualshock device.

class moveit.servo_client.devices.ps4_dualshock.DualShockAxes(LEFT_STICK_X: int = 0, LEFT_STICK_Y: int = 1, LEFT_TRIGGER: int = 2, RIGHT_STICK_X: int = 3, RIGHT_STICK_Y: int = 4, RIGHT_TRIGGER: int = 5, D_PAD_X: int = 6, D_PAD_Y: int = 7)

LEFT_STICK_X: int = 0

LEFT_STICK_Y: int = 1

LEFT_TRIGGER: int = 2

RIGHT_STICK_X: int = 3

RIGHT_STICK_Y: int = 4

RIGHT_TRIGGER: int = 5

D_PAD_X: int = 6

D_PAD_Y: int = 7

class moveit.servo_client.devices.ps4_dualshock.DualShockButtons(X: int = 0, O: int = 1, TRIANGLE: int = 2, SQUARE: int = 3, L1: int = 4, R1: int = 5, L2: int = 6, R2: int = 7, SHARE: int = 8, OPTIONS: int = 9, HOME: int = 10, LEFT_STICK_TRIGGER: int = 11, RIGHT_STICK_TRIGGER: int = 12)

X: int = 0

O: int = 1

TRIANGLE: int = 2

SQUARE: int = 3

L1: int = 4

R1: int = 5

L2: int = 6

R2: int = 7

SHARE: int = 8

OPTIONS: int = 9

HOME: int = 10

LEFT_STICK_TRIGGER: int = 11

RIGHT_STICK_TRIGGER: int = 12

class moveit.servo_client.devices.ps4_dualshock.PS4DualShock(Axes: DualShockAxes = DualShockAxes(LEFT_STICK_X=0, LEFT_STICK_Y=1, LEFT_TRIGGER=2, RIGHT_STICK_X=3, RIGHT_STICK_Y=4, RIGHT_TRIGGER=5, D_PAD_X=6, D_PAD_Y=7), Buttons: DualShockButtons = DualShockButtons(X=0, O=1, TRIANGLE=2, SQUARE=3, L1=4, R1=5, L2=6, R2=7, SHARE=8, OPTIONS=9, HOME=10, LEFT_STICK_TRIGGER=11, RIGHT_STICK_TRIGGER=12))

A dataclass to store device config. This class follows the conventions of Joy message (http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Joy.html)

Axes: DualShockAxes = DualShockAxes(LEFT_STICK_X=0, LEFT_STICK_Y=1, LEFT_TRIGGER=2, RIGHT_STICK_X=3, RIGHT_STICK_Y=4, RIGHT_TRIGGER=5, D_PAD_X=6, D_PAD_Y=7)

Buttons: DualShockButtons = DualShockButtons(X=0, O=1, TRIANGLE=2, SQUARE=3, L1=4, R1=5, L2=6, R2=7, SHARE=8, OPTIONS=9, HOME=10, LEFT_STICK_TRIGGER=11, RIGHT_STICK_TRIGGER=12)

class moveit.servo_client.devices.ps4_dualshock.PS4DualShockTeleop(ee_frame_name: str, node_name: str = 'ps4_dualshock_teleop', device_name: str = 'ps4_dualshock', device_config: PS4DualShock = PS4DualShock(Axes=DualShockAxes(LEFT_STICK_X=0, LEFT_STICK_Y=1, LEFT_TRIGGER=2, RIGHT_STICK_X=3, RIGHT_STICK_Y=4, RIGHT_TRIGGER=5, D_PAD_X=6, D_PAD_Y=7), Buttons=DualShockButtons(X=0, O=1, TRIANGLE=2, SQUARE=3, L1=4, R1=5, L2=6, R2=7, SHARE=8, OPTIONS=9, HOME=10, LEFT_STICK_TRIGGER=11, RIGHT_STICK_TRIGGER=12)))

A class which encapsulates teleoperation functionalities for ps4 dualshock device.

publish_command(data): Publishes the teleop command.

record(): Records trajectory data.