- #!/usr/bin/env python3
- import sys, select, tty, termios
- import rospy
- from std_msgs.msg import String
- if __name__ == '__main__':
- key_pub = rospy.Publisher('keys', String, queue_size=1)
- rospy.init_node("keyboard_driver")
- rate = rospy.Rate(100)
- old_attr = termios.tcgetattr(sys.stdin)
- tty.setcbreak(sys.stdin.fileno())
- print("Publishing keystrokes. Press Ctrl-C to exit...")
- while not rospy.is_shutdown():
- if select.select([sys.stdin], [], [], 0)[0] == [sys.stdin]:
- key_pub.publish(sys.stdin.read(1))
- rate.sleep()
- termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_attr)
[text] key1
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- 17 Apr-2024
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