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PilzDE / pilz_teach

Jogging a manipulator and defining poses as you are used to in robotics controllers, but using native ROS functionality
GNU General Public License v3.0
3 stars 2 forks source link

[6D teleop] pygame #17

Closed jschleicher closed 5 years ago

jschleicher commented 5 years ago

Switch implemantation to pygame

DamKoVosh commented 5 years ago

Problem with pygame is, it does not have a headless mode, at least not for keyboard interaction. So we would need to have a window with focus. Since this is not our current goal, we will not take pygame for the moment. Searching and Evaluating alternatives at the moment

DamKoVosh commented 5 years ago

The only working possible solution i can find is: pynput This works with pressing and releasing keys, so all currently pressed keys can be figuered out. This also has a rosdep, so that would not be the problem

However:

On Linux, pynput uses X, so the following must be true:

-  An X server must be running.
-  The environment variable $DISPLAY must be set.

The latter requirement means that running pynput over SSH generally will not work. To work around that, make sure to set $DISPLAY:

$ DISPLAY=:0 python -c 'import pynput'

So we would have ssh limitations. Not sure if running jogging above ssh is imporend for us...

jschleicher commented 5 years ago

Closing as described above and in #28