update bridges and add bridge examples (speech/controller and robot)

examples/interfaces/robots/wheeled_controller.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+"""Control a wheeled robot using a keyboard, an Xbox or Playstation game controller.
+
+how to run:
+```
+$ python wheeled_controller.py --help                    # for help
+$ python wheeled_controller.py --controller keyboard     # to use the keyboard
+$ python wheeled_controller.py --controller xbox         # to use Xbox game controller
+$ python wheeled_controller.py --controller ps           # to use PS game controller
+```
+
+Mapping of the keyboard interface:
+* `top arrow`: move forward
+* `bottom arrow`: move backward
+* `left arrow`: turn/steer to the left
+* `right arrow`: turn/steer to the right
+
+Mapping between the controller and the wheeled robot:
+- left joystick: velocity of the wheeled robot
+- east button (circle on PlayStation and B on Xbox): increase the speed
+- west button (square on PlayStation and X on Xbox): decrease the speed
+"""
+
+# import numpy as np
+from itertools import count
+import argparse
+
+import pyrobolearn as prl
+
+
+# create parser to select the game controller
+parser = argparse.ArgumentParser()
+parser.add_argument('-c', '--controller', help='the controller to use', type=str,
+                    choices=['keyboard', 'xbox', 'ps'], default='keyboard')
+args = parser.parse_args()
+
+
+# load corresponding interface
+if args.controller == 'keyboard':  # keyboard interface
+    from pyrobolearn.tools.interfaces.mouse_keyboard.mousekeyboard import MouseKeyboardInterface as Controller
+    from pyrobolearn.tools.bridges.mouse_keyboard.bridge_mousekeyboard_wheeled \
+        import BridgeMouseKeyboardDifferentialWheeledRobot as Bridge
+elif args.controller == 'xbox':  # Xbox interface
+    from pyrobolearn.tools.interfaces.controllers.xbox import XboxControllerInterface as Controller
+    from pyrobolearn.tools.bridges.controllers.robots.bridge_controller_wheeled import BridgeControllerWheeledRobot \
+        as Bridge
+elif args.controller == 'ps':  # PS interface
+    from pyrobolearn.tools.interfaces.controllers.playstation import PSControllerInterface as Controller
+    from pyrobolearn.tools.bridges.controllers.robots.bridge_controller_wheeled import \
+        BridgeControllerWheeledRobot as Bridge
+else:
+    raise NotImplementedError("Unknown game controller")
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create basic world (with a floor and gravity enabled by default)
+world = prl.worlds.BasicWorld(sim)
+
+# load quadcopter
+robot = prl.robots.Epuck(sim, position=[0., 0.])
+world.load_robot(robot)
+
+# load interface that accepts input events
+controller = Controller(use_thread=True, verbose=False)
+
+# load bridge that connects the interface/controller with the quadcopter
+# The bridge is the one that maps the input events from the interface to commands sent to the quadcopter
+bridge = Bridge(robot=robot, interface=controller)
+
+
+# run simulator
+for t in count():
+    # perform a step with the bridge and interface
+    bridge.step(update_interface=True)
+
+    # perform one step in the world
+    world.step(sleep_dt=1. / 240)