Update pwm service name

scripts/joy_teleop.py

@@ -15,7 +15,7 @@ from math import pi
 coefAng = -1
 coefLin = 1
 
-## BUTTONS
+# BUTTONS
 
 B_TRIG = 2
 B_CIRC = 1
@@ -40,7 +40,7 @@ B_DOWN = 14
 B_LEFT = 15
 B_RIGHT = 16
 
-## AXES
+# AXES
 
 A_LJOYH = 0
 A_LJOYV = 1
@@ -52,15 +52,16 @@ A_R2 = 5
 
 ########################################
 
+
 class JoyTeleopNode():
 
     def joyCallback(self, data):
         if (data.buttons[B_START]):
-            ## Toggle PWM
+            # Toggle PWM
             self.enablePwm(not self.pwmState)
 
         if (data.buttons[B_PS]):
-            ## shutdown teleop
+            # shutdown teleop
             self.forceQuit = True
 
         self.angular_vel = data.axes[A_LJOYH] * coefAng
@@ -79,14 +80,14 @@ class JoyTeleopNode():
         self.forceQuit = False
         self.publisher = rospy.Publisher('cmd_vel', Twist, queue_size=1)
 
-        print("Waiting for /motors/change_pwm service...")
-        rospy.wait_for_service('/motors/change_pwm')
-        self.change_pwm = rospy.ServiceProxy('/motors/change_pwm', SetBool)
+        print("Waiting for /mccd/enable_pwm service...")
+        rospy.wait_for_service('/mccd/enable_pwm')
+        self.change_pwm = rospy.ServiceProxy('/mccd/enable_pwm', SetBool)
 
         self.joySubscriber = rospy.Subscriber('joy', Joy, self.joyCallback)
 
         self.lastTimeUpdate = time.time()
-        self.minUpdatePeriod = 0.3 # resend data every x sec.
+        self.minUpdatePeriod = 0.3  # resend data every x sec.
 
         print("""
 LEFT JOY     change speed
@@ -99,7 +100,6 @@ PS       shutdown teleop
             if self.forceQuit == True:
                 break
 
-
             if self.last_angular_vel != self.angular_vel:
                 self.last_angular_vel = self.angular_vel
                 self.lastTimeUpdate = time.time()
@@ -119,11 +119,11 @@ PS       shutdown teleop
                 strToPrint = "PwmState:\x1b[1;32;40m{}\x1b[0m\tn"
                 strToPrint += "linear_vel:\x1b[1;32;40m{:.3f}\x1b[0m\t"
                 strToPrint += "angular_vel:\x1b[1;32;40m{:.3f}\x1b[0m"
-                print ("\033[A                             \033[A", flush=True)
+                print("\033[A                             \033[A", flush=True)
                 print(strToPrint.format("1" if self.pwmState else "0",
                                         self.linear_vel,
                                         self.angular_vel),
-                                        flush=True)
+                      flush=True)
 
                 self.print_info = False
                 self.send_vel()
@@ -153,10 +153,12 @@ PS       shutdown teleop
         except rospy.ServiceException as e:
             print("Service call failed: %s" % e)
 
+
 if __name__ == '__main__':
 
     rospy.init_node("joy_teleop")
 
     try:
         JoyTeleopNode()
-    except rospy.ROSInterruptException: pass
+    except rospy.ROSInterruptException:
+        pass