def set_waldo_action()

in src/rosbridge/fetch_proxy.py [0:0]

• 19 lines of code
• 5 McCabe index (conditional complexity)

    def set_waldo_action(self, joy):
        twist = Twist()
        twist.linear.x = joy.axes[0]
        twist.linear.y = joy.axes[1]
        twist.linear.z = joy.axes[2]
        twist.angular.x = +3.0*joy.axes[3]
        twist.angular.y = +3.0*joy.axes[4]
        twist.angular.z = +2.0*joy.axes[5]
        self.arm_cartesian_twist_pub.publish(twist)

        if joy.buttons[1] and not self.prev_joy_buttons[1]:
            goal = GripperCommandGoal()
            goal.command.max_effort = 60
            goal.command.position = 0.0
            self.gripper_client.send_goal(goal)
        elif not joy.buttons[1] and self.prev_joy_buttons[1]:
            goal = GripperCommandGoal()
            goal.command.max_effort = 60
            goal.command.position = 0.1
            self.gripper_client.send_goal(goal)