ERROR Virtual keyboard joystick

[marco-marino95]

I can't control the quad bike. I followed this guide "Set the joystick of the virtual keyboard" but when I get to the point "rosrun rotors_joy_interface key_joystick.py" the joystick GUI of the virtual keyboard does not open but gives me this ERROR:

[rosrun] Couldn't find executable named key_joystick.py below /home/marco/catkin_ws/src/CrazyS/rotors_joy_interface [rosrun] Found the following, but they're either not files, [rosrun] or not executable: [rosrun] /home/marco/catkin_ws/src/CrazyS/rotors_joy_interface/scripts/key_joystick.py

What can I do to fix it?

[gsilano]

Why are you using "CrazyS" instead of "RotorS"? Could you provide the entire verbose?

[marco-marino95]

I redone all the steps correctly installing rotors, the moment I get to the point: "rosrun rotors_joy_interface key_joystick.py" the GUI of the joystick of the virtual keyboard does not open but gives me this ERROR different from the previous one:

Traceback (most recent call last):    File "/home/marco/catkin_ws/src/rotors_simulator/rotors_joy_interface/scripts/key_joystick.py", line 9, in      import pygame, sys, os ImportError: No module named pygame

[gsilano]

Could you copy and paste the verbose? It could be missing dependencies or something wrong in the RotorS installation.

[marco-marino95]

!/usr/bin/env python

''' Virtual Joystick from Keyboard Bharat Tak September 2016 '''

import uinput, time import pygame, sys, os from pygame.locals import *

pygame.init() BLACK = (0,0,0) WIDTH = 335 HEIGHT = 406 windowSurface = pygame.display.set_mode((WIDTH, HEIGHT), 0, 32) windowSurface.fill(BLACK) pygame.display.set_caption('Virtual RC Joystick')

Fill background

background = pygame.Surface(windowSurface.get_size()) background = background.convert() background.fill((250, 250, 250))

Load image

dir = os.path.dirname(file) filename = os.path.join(dir, '../media/sticks.png') img = pygame.image.load(filename)

windowSurface.blit(img,(0,0)) pygame.display.flip()

class stick_state(object): def init(self, name, stick, key_up, key_down, spring_back=True, incr_val=0.2): self.name = name # The name of the stick self.stick = stick # The stick on the joystick that this stick maps to self.key_up = key_up # The key on the keyboard that maps to this stick increment self.key_down = key_down # The key on the keyboard that maps to this stick decrement self.spring_back = spring_back # Does the stick spring back to center on release? self.incr_val = incr_val # The increment on keypress self.min_val = 0.0 # Minimum stick value self.max_val = 255.0 # Maximum stick value self.active_up = False # True if up key is held pressed self.active_down = False # True if down key is held pressed if self.spring_back: self.zero = 127.0 else: self.zero = 0.0 self.val = self.zero # Stick value at initialization at zero position self.emit_val = int(self.val) self.display_ready = False # Whether optional display params have been set self.display_height = 0 # Height on the display screen self.display_width = 0 # Width on the display screen self.display_hor = True # Whether the display bar is horizontal, else vertical self.display_bar_g = [] self.display_bar_b = []

def keypress_up(self):
    self.active_up = True
    if (self.val + self.incr_val) <= self.max_val:
        self.val = self.val + self.incr_val
    else:
        # Saturated
        self.val = self.max_val

def keypress_down(self):
    self.active_down = True
    if (self.val - self.incr_val) >= self.min_val:
        self.val = self.val - self.incr_val
    else:
        # Saturated
        self.val = self.min_val

def release_stick(self):
    if not self.spring_back:
        pass
    else:
        if self.val > self.zero:
            self.val = self.val - self.incr_val*0.2
        elif self.val < self.zero:
            self.val = self.val + self.incr_val*0.2
        else:
            self.val = self.zero

def emit(self, device):
    # emit effeciently
    if abs(int(round(self.val)) - int(self.emit_val)) > 0.001:
        self.emit_val = int(round(self.val))
        device.emit(self.stick, int(self.emit_val), syn=False)
        if self.display_ready:
            self.display()

def set_display(self, offset_height, offset_width, horizontal):
    self.display_height = offset_height
    self.display_width = offset_width
    self.display_hor = horizontal
    if horizontal:
        filename = os.path.join(dir, '../media/hg.png')
        self.display_bar_g = pygame.image.load(filename)
        filename = os.path.join(dir, '../media/hb.png')
        self.display_bar_b = pygame.image.load(filename)
    else:
        filename = os.path.join(dir, '../media/vg.png')
        self.display_bar_g = pygame.image.load(filename)
        filename = os.path.join(dir, '../media/vb.png')
        self.display_bar_b = pygame.image.load(filename)    
    self.display_ready = True

def display(self):
    if not self.display_ready:
        pass
    else:
        # Fill the entire bar
        for i in range(256):
            if i <= self.emit_val:
                # Fill green
                if self.display_hor:
                    windowSurface.blit(self.display_bar_g,(self.display_width + i, self.display_height))
                else:
                    windowSurface.blit(self.display_bar_g,(self.display_width, self.display_height - i))
            else:
                # Fill grey
                if self.display_hor:
                    windowSurface.blit(self.display_bar_b,(self.display_width + i, self.display_height))
                else:
                    windowSurface.blit(self.display_bar_b,(self.display_width, self.display_height - i))
        # Render it
        pygame.display.flip()

def update_event(self, event):
    if event.type == KEYUP:
        if (event.key == self.key_up):
            self.active_up = False
        elif event.key == self.key_down:
            self.active_down = False
    elif event.type == KEYDOWN:
        if (event.key == self.key_up):
            self.active = True
            self.keypress_up()
        elif (event.key == self.key_down):
            self.active = True
            self.keypress_down()

def update_stick(self, device):
    if self.active_up:
        self.keypress_up()
        self.emit(device)
    elif self.active_down:
        self.keypress_down()
        self.emit(device)
    else:
        self.release_stick()
        self.emit(device)

def main(): events = ( uinput.BTN_JOYSTICK, uinput.ABS_X + (0, 255, 0, 0), uinput.ABS_Y + (0, 255, 0, 0), uinput.ABS_THROTTLE + (0, 255, 0, 0), uinput.ABS_RUDDER + (0, 255, 0, 0), )

sticks = []

# create sticks
roll_stick = stick_state('Roll', uinput.ABS_X, K_RIGHT, K_LEFT)
roll_stick.set_display(21, 39, True)
sticks.append(roll_stick)
pitch_stick = stick_state('Pitch', uinput.ABS_Y, K_UP, K_DOWN)
pitch_stick.set_display(328, 198, False)
sticks.append(pitch_stick)
thr_stick = stick_state('Throttle', uinput.ABS_THROTTLE, K_w, K_s, False)
thr_stick.set_display(328, 95, False)
sticks.append(thr_stick)
rud_stick = stick_state('Yaw', uinput.ABS_RUDDER, K_d, K_a)
rud_stick.set_display(360, 39, True)
sticks.append(rud_stick)

with uinput.Device(events) as device:
    while True:
        # event handling loop
        for event in pygame.event.get():
            for stick in sticks:
                stick.update_event(event)
        for stick in sticks:
                stick.update_stick(device)
        time.sleep(0.0005)

if name == "main": main()

[gsilano]

No. Maybe you are not familiar with these tools, and I asked you something the wrong way. The verbose is the output that you get on the terminal line when you run the code. I would like to understand if there are errors, missing dependencies, and so on.

[marco-marino95]

The output that comes out after I run the code is this:

Traceback (most recent call last): File "/home/marco/catkin_ws/src/rotors_simulator/rotors_joy_interface/scripts/key_joystick.py", line 9, in import pygame, sys, os ImportError: No module named pygame

[gsilano]

Did you try to Google it? I found this question on StackOverflow. Please, take a look and let me know.

[tooHotSpot]

It is just an ImportError: No module named pygame These would enough to continue the installation: pip install pygame