collision_signal_node.py

#!/usr/bin/python3
import rospy
from std_msgs.msg import Bool
#import getch 
import curses 
import select 
import sys

"""
Press 'x' (lowercase) in the correct terminal to indicate roach collision. 
"""
def talker(stdscr):
	"""Doesn't publish continuously; relies on latch"""
	stdscr.nodelay(1)

	pub = rospy.Publisher('collision_signal', Bool, latch=True, queue_size=10)
	rospy.init_node('collision_signal_node', anonymous=True)

	coll_signal = False
	while not rospy.is_shutdown():
		keystroke = stdscr.getch()
		if keystroke!=-1:
			#stdscr.refresh()
			#stdscr.move(0,0)
			if chr(keystroke)=='x':
				coll_signal = True

		pub.publish(coll_signal)

if __name__ == '__main__':
	try:
		curses.wrapper(talker)
	except rospy.ROSInterruptException:
		pass

"""
import curses

def main(stdscr):
    # do not wait for input when calling getch
    stdscr.nodelay(1)
    while True:
        # get keyboard input, returns -1 if none available
        c = stdscr.getch()
        if c != -1:
            # print numeric value
            stdscr.addstr(str(c) + ' ')
            stdscr.refresh()
            # return curser to start position
            stdscr.move(0, 0)

if __name__ == '__main__':
    curses.wrapper(main)
"""