adds land takeoff reset to keyboard_azerty

hand_control/src/keyboard_azerty.py

@@ -4,16 +4,18 @@ import roslib; roslib.load_manifest('teleop_twist_keyboard')
 import rospy
 
 from geometry_msgs.msg import Twist
+from std_msgs.msg import Empty
 
 import sys, select, termios, tty
 
 msg = """
-Reading from the keyboard  and Publishing to Twist!
----------------------------
-Moving around:
-|⇑ y|↖ u|↑ i|↗ o|
-|⇐ h|← j|  k|→ l|⇒ m|
-|⇓ n|↙ ,|↓ ;|↘ :| 
+        ---------------------
+takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|  
+        |---|---|---|---|---|----
+  reset>|  g|⇐ h|← j|  k|→ l|⇒ m|
+        |---|---|---|---|---|----
+   land>|  b|⇓ n|↙ ,|↓ ;|↘ :| 
+        ---------------------
 
 a/w : increase/decrease max speeds by 10%
 z/x : increase/decrease only linear speed by 10%
@@ -63,7 +65,10 @@ def vels(speed,turn):
 
 if __name__=="__main__":
   settings = termios.tcgetattr(sys.stdin)
-  pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
+  pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
+  land = rospy.Publisher('/ardrone/land', Empty, queue_size=1)
+  takeoff = rospy.Publisher('/ardrone/takeoff', Empty, queue_size=1)
+  reset = rospy.Publisher('/ardrone/reset', Empty, queue_size=1)
   rospy.init_node('keyboard_azerty')
   x = 0
   th = 0
@@ -75,6 +80,16 @@ if __name__=="__main__":
     print vels(speed,turn)
     while(1):
       key = getKey()
+      if (key == 't'):
+        takeoff.publish(Empty())
+        print "takeoff"
+      elif (key == 'g'):
+        reset.publish(Empty())
+        print "reset"
+      elif (key == 'b'):
+        land.publish(Empty())
+        print "land"
+      else:
         if key in moveBindings.keys():
           x = moveBindings[key][0]
           th = moveBindings[key][1]
@@ -83,7 +98,6 @@ if __name__=="__main__":
         elif key in speedBindings.keys():
           speed = speed * speedBindings[key][0]
           turn = turn * speedBindings[key][1]
-
           print vels(speed,turn)
           if (status == 14):
             print msg