adding profiles

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  geometry_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -20,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -47,11 +48,10 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+    RobotCommand.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -105,8 +105,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES teleop_lib
-#  CATKIN_DEPENDS roscpp rospy std_msgs
-#  DEPENDS system_lib
+#   Message1.msg
 )
 
 ###########
@@ -153,6 +152,7 @@ include_directories(
 #############
 ## Install ##
 #############
+#   Message1.msg
 
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
@@ -167,18 +167,8 @@ include_directories(
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
 # install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINA
+#   Message1.msg
 # install(DIRECTORY include/${PROJECT_NAME}/
 #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
@@ -187,6 +177,7 @@ include_directories(
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES
+#   Message1.msg
 #   # myfile1
 #   # myfile2
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

msg/RobotCommand.msg

@@ -0,0 +1,7 @@
+int8 VELOCITY_COMMAND=1
+int8 START_TRIAL_COMMAND=10
+int8 STOP_COMMAND=-1
+
+int8 command
+geometry_msgs/Twist twist
+

package.xml

@@ -52,12 +52,14 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/teleop_lib/command_queue.py

@@ -0,0 +1,11 @@
+import rospy
+
+class CommandQueue:
+    def __init__(self, profile, topic, queue_len=10):
+
+
+
+        if msg.command == teleop_lib.msg.RobotCommand.VELOCITY_COMMAND:
+            send_vel(msg.twist)
+        elif msg.command == teleop_lib.msg.RobotCommand.STOP_COMMAND:
+            estop()

src/teleop_lib/input_profile.py

@@ -0,0 +1,3 @@
+#!/usr/bin/env python
+
+import rospy