Merge branch 'misc_devel' into route_devel

drive_system/scripts/drive_motor_controller.py

@@ -14,7 +14,7 @@ class DriveController:
 
 	# Constructor
     def __init__(self):
-
+        
     	# Initialize publishers
         self.speeds_pub = rospy.Publisher('drive_motor_speeds', UInt8, queue_size=1)
 

high_level_control/CMakeLists.txt

@@ -11,6 +11,8 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  geometry_msgs
+  sensor_msgs
 )
 
 ## System dependencies are found with CMake's conventions

high_level_control/package.xml

@@ -24,5 +24,7 @@
   <depend>roscpp</depend>
   <depend>rospy</depend>
   <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
 
 </package>

high_level_control/scripts/teleop_control.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python
+
+# ----------------------------------------------- #
+# Table of index number of /joy.buttons:
+# Index   Button name on the actual controller
+#
+# 0   A
+# 1   B
+# 2   X
+# 3   Y
+# 4   LB
+# 5   RB
+# 6   back
+# 7   start
+# 8   power
+# 9   Button stick left
+# 10  Button stick right
+
+# Table of index number of /joy.axes:
+# Index   Axis name on the actual controller
+#
+# 0   Moving left joystick left (+) and right (-) changes rotational velocity
+# 1   Moving left joystick up (+) and down (-) changes linear velocity
+# 2   LT
+# 3   Left/Right Axis stick right
+# 4   Up/Down Axis stick right
+# 5   RT
+# 6   cross key left/right
+# 7   cross key up/down
+# ----------------------------------------------- #
+
+# import required packages
+import rospy
+from geometry_msgs.msg import Twist
+from sensor_msgs.msg import Joy
+
+class TeleopControl:
+
+    # Constructor
+    def __init__(self):
+
+        # Initialize publishers
+        self.drive_pub = rospy.Publisher('drive_cmd', Twist)
+        # other publishers will be added when necessary
+
+        # Initialize subscribers
+        self.joy_sub = rospy.Subscriber("joy", Joy, self.joy_callback)
+
+
+    # Callback function for joystick controls
+    def joy_callback(self, data):
+        self.set_drive_speed(data)
+        self.set_digging_mode(data)
+
+    # Sets drive speed based on left joystick input
+    def set_drive_speed(self, data):
+        twist = Twist()
+        twist.linear.x = data.axes[1]
+        twist.angular.z = data.axes[0]
+        self.drive_pub.publish(twist)
+
+    # Sets digging mode based on ???? (TBD)
+    def set_digging_mode(self, data):
+        pass
+
+    # additional functions TBD
+
+
+if __name__ == '__main__':
+
+    # Initialize as ROS node
+    rospy.init_node('teleop_control')
+
+    # Create a TeleopControl object 
+    control = TeleopControl()
+
+    # Ready to go
+    rospy.loginfo("Teleop Control initialized...")
+
+    # Loop continuously
+    while not rospy.is_shutdown():
+    	pass

mission_control/resources/css/cc.css

@@ -0,0 +1,68 @@
+body {
+    margin: 0px;
+}
+
+table {
+    border-collapse: collapse;
+    width: 100%;
+}
+
+td, th {
+    border: 1px solid #f0f0f0;
+    text-align: left;
+    padding: 8px;
+    font-size: 14px;
+}
+
+td:nth-child(1) {
+    width: 150px;
+}
+
+tr:nth-child(even) {
+    background-color: #f0f0f0;
+}
+
+#left_region {
+    float: left;
+    width: auto;
+    max-width: 40%;
+    margin-right: 30px;
+}
+
+#middle_region {
+    float: left;
+    width: 45%;
+    margin-right: 30px;
+}
+
+#middle_region_left {
+    float: left;
+    width: 48%;
+    margin-right: 4%;
+}
+
+#middle_region_right {
+    float: left;
+    width: 48%;
+}
+
+#right_region {
+    float: left;
+    width: 15%;
+}
+
+#body_content {
+    margin-left: auto;
+    margin-right: auto;
+    width: 90%;
+}
+
+#header_bar {
+    background-color: #000000b7;
+    height: 50px;
+    margin-bottom: 20px;
+}
+
+#state_image {
+    max-height: 800px;
+}