<commit_before>#!/usr/bin/env python

# joy_trigger_start.py
# Use joystick input to launch exploration nodes in jackal
# Intro to Robotics - EE5900 - Spring 2017
#          Assignment #5

#       Project #5 Group #3
#         Ian (Team Lead)
#            Phillip
#            Akhil
#
# /blueooth_teleop/joy
# sensor_msgs/Joy
#
# std_msgs/Header header
#   uint32 seq
#   time stamp
#   string frame_id
# float32[] axes
# int32[] buttons
#
# axes: [ lft - l/r, lft - up/down, L2 (1/-1), rgt - l/r, rgt - u/d, R2 (1/-1)]
# buttons: [ x, circle, sq, tri, L1, R1, share, options, play, L3, R3, DL, DR, DU, DD]
#

import rospy
import roslaunch
import sys
import time
import os
import wall_avoid
import jackal_move
from sensor_msgs.msg import Joy

class joy_control(object):

    def __init__(self):

        rate = rospy.Rate(5)
        rospy.Subscriber("/bluetooth_teleop/joy", Joy, self.joy_callback)

        self.ready = False
        self.trigger = False
        self.explore_mode = 1
        explore_process = None
        rosbag_process = None
        timer_start = 0
        rospy.loginfo("In start")

        while not rospy.is_shutdown():
            if (self.trigger == True) and :

                if self.ready == True:

                    package ='rosbag'
                    executable ='record'

                    node = roslaunch.core.Node(package, executable, args="-O "+str(os.path.dirname(os.path.realpath(__file__)))[:-7]+"rosbag/rosbag /tf /scan")<commit_msg>Removing syntax error.<commit_after>#!/usr/bin/env python

# joy_trigger_start.py
# Use joystick input to launch exploration nodes in jackal
# Intro to Robotics - EE5900 - Spring 2017
#          Assignment #5

#       Project #5 Group #3
#         Ian (Team Lead)
#            Phillip
#            Akhil
#
# /blueooth_teleop/joy
# sensor_msgs/Joy
#
# std_msgs/Header header
#   uint32 seq
#   time stamp
#   string frame_id
# float32[] axes
# int32[] buttons
#
# axes: [ lft - l/r, lft - up/down, L2 (1/-1), rgt - l/r, rgt - u/d, R2 (1/-1)]
# buttons: [ x, circle, sq, tri, L1, R1, share, options, play, L3, R3, DL, DR, DU, DD]
#

import rospy
import roslaunch
import sys
import time
import os
import wall_avoid
import jackal_move
from sensor_msgs.msg import Joy

class joy_control(object):

    def __init__(self):

        rate = rospy.Rate(5)
        rospy.Subscriber("/bluetooth_teleop/joy", Joy, self.joy_callback)

        self.ready = False
        self.trigger = False
        self.explore_mode = 1
        explore_process = None
        rosbag_process = None
        timer_start = 0
        rospy.loginfo("In start")

        while not rospy.is_shutdown():
            if (self.trigger == True):

                if self.ready == True:

                    package ='rosbag'
                    executable ='record'

                    node = roslaunch.core.Node(package, executable, args="-O "+str(os.path.dirname(os.path.realpath(__file__)))[:-7]+"rosbag/rosbag /tf /scan")
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