urtlebot3启动键盘控制后 /cmd_vel 会持续输出数据，在键盘不给信号时 /cmd_vel 续输，导致此功能与导航同时启动，会导致小车自动行走时一顿一顿的

键盘控制启动命令：

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

问题描述：

turtlebot3启动键盘控制后 /cmd_vel 会持续输出数据，再键盘不给信号时速度持续输出0，导致此功能与导航同时启动，会导致小车自动行走时一顿一顿的，可以用rostopic echo /cmd_vel 看数据输出情况；

以下是我改良后的键盘控制代码：

键盘控制改良版，按下s停止后，不会在持续输出速度，与导航一起启动，不影响小车自动行走

#!/usr/bin/env python3
#coding=utf-8
# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
#    * Redistributions in binary form must reproduce the above copyright
#      notice, this list of conditions and the following disclaimer in the
#      documentation and/or other materials provided with the distribution.
#    * Neither the name of the Willow Garage, Inc. nor the names of its
#      contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String
import sys, select, os
# sukai 2021-11-03
# 键盘控制改良版，按下s停止后，不会在持续输出 0 速度
# rosrun slamservice currency_teleop_key.pyif os.name == 'nt':import msvcrt
else:import tty, termiosBURGER_MAX_LIN_VEL = 0.22
BURGER_MAX_ANG_VEL = 2.84WAFFLE_MAX_LIN_VEL = 0.36
WAFFLE_MAX_ANG_VEL = 0.82LIN_VEL_STEP_SIZE = 0.03
ANG_VEL_STEP_SIZE = 0.1msg = """Control Your JiCui CurrencyChassis!
键盘控制改良版，按下s停止后，/cmd_vel 不会在持续输出速度;
---------------------------
Moving around:wa    s    dxw/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)space key, s : force stopCTRL-C to quit
"""e = """
Communications Failed
"""
datamsg =""
def getKey():if os.name == 'nt':if sys.version_info[0] >= 3:return msvcrt.getch().decode()else:return msvcrt.getch()tty.setraw(sys.stdin.fileno())rlist, _, _ = select.select([sys.stdin], [], [], 0.1)if rlist:key = sys.stdin.read(1)else:key = ''termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return keydef vels(target_linear_vel, target_angular_vel):return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel)def makeSimpleProfile(output, input, slop):if input > output:output = min( input, output + slop )elif input < output:output = max( input, output - slop )else:output = inputreturn outputdef constrain(input, low, high):if input < low:input = lowelif input > high:input = highelse:input = inputreturn inputdef checkLinearLimitVelocity(vel):if turtlebot3_model == "burger":vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi":vel = constrain(vel, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)else:vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)return veldef checkAngularLimitVelocity(vel):if turtlebot3_model == "burger":vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi":vel = constrain(vel, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL)else:vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)return velif __name__=="__main__":if os.name != 'nt':settings = termios.tcgetattr(sys.stdin)rospy.init_node('turtlebot3_teleop')pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)#turtlebot3_model = rospy.get_param("model", "burger")turtlebot3_model = "waffle"status = 0target_linear_vel   = 0.0target_angular_vel  = 0.0control_linear_vel  = 0.0control_angular_vel = 0.0try:print(msg)flg = Falsewhile(1):key = getKey()if key == 'w' or key == 'x' or key == 'a' or key == 'd' :flg = Trueif not flg:continue;print("while(flg)")if key == 'w' :target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE)status = status + 1print(vels(target_linear_vel,target_angular_vel))elif key == 'x':target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE)status = status + 1print(vels(target_linear_vel,target_angular_vel))elif key == 'a' :target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE)status = status + 1print(vels(target_linear_vel,target_angular_vel))elif key == 'd':target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE)status = status + 1print(vels(target_linear_vel,target_angular_vel))elif key == ' ' or key == 's' :#缓冲while(target_linear_vel>0.02 or target_linear_vel<-0.02):r = rospy.Rate(15)r.sleep()target_linear_vel = checkLinearLimitVelocity(target_linear_vel - target_linear_vel/5)target_angular_vel  = 0.0control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0))twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0))twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_velpub.publish(twist)target_linear_vel   = 0.0control_linear_vel  = 0.0target_angular_vel  = 0.0control_angular_vel = 0.0print(vels(target_linear_vel, target_angular_vel))flg =Falseelse:if (key == '\x03'):breakif status == 20 :print(msg)status = 0twist = Twist()control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0))twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0))twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_velpub.publish(twist)except:print(e)finally:twist = Twist()twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0pub.publish(twist)if os.name != 'nt':termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

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