nao_teleop: nao_teleop: teleop_nao

00001 /*
00002  * Nao Joystick / Gamepad teleoperation
00003  *
00004  * Copyright 2009-2012 Armin Hornung, University of Freiburg
00005  * http://www.ros.org/wiki/nao_teleop
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *     * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *     * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *     * Neither the name of the University of Freiburg nor the names of its
00016  *       contributors may be used to endorse or promote products derived from
00017  *       this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 
00033 #ifndef NAO_TELEOP_TELEOP_NAO_JOY_
00034 #define NAO_TELEOP_TELEOP_NAO_JOY_
00035 
00036 #include <ros/ros.h>
00037 #include <std_msgs/String.h>
00038 #include <geometry_msgs/Twist.h>
00039 #include <std_srvs/Empty.h>
00040 #include <nao_msgs/JointAnglesWithSpeed.h>
00041 #include <nao_msgs/JointTrajectoryAction.h>
00042 #include <nao_msgs/BodyPoseAction.h>
00043 #include <nao_msgs/BodyPoseActionGoal.h>
00044 #include <nao_msgs/CmdVelService.h>
00045 #include <actionlib/client/simple_action_client.h>
00046 
00047 // switch between diamondback /electric:
00048 #if ROS_VERSION_MINIMUM(1,6,0)
00049 #include <sensor_msgs/Joy.h>
00050 using sensor_msgs::Joy;
00051 #else
00052 #include <joy/Joy.h>
00053 using joy::Joy;
00054 #endif
00055 
00056 namespace nao_teleop{
00062 class TeleopNaoJoy
00063 {
00064 public:
00065   TeleopNaoJoy();
00066   void pubMsg();
00067   ros::NodeHandle nh;
00068   ros::NodeHandle privateNh;
00069 
00073   ros::Subscriber subscribeToJoystick();
00074 
00079   bool callBodyPoseClient(const std::string& poseName);
00080 
00081 
00082 protected:
00083   void joyCallback(const Joy::ConstPtr& joy);
00084   bool buttonPressed(int button, const Joy::ConstPtr& joy) const;
00085   bool buttonTriggered(int button, const Joy::ConstPtr& joy) const;
00086   bool buttonChanged(int button, const Joy::ConstPtr& joy, const Joy::ConstPtr& prevJoy) const;
00087   void initializePreviousJoystick(const Joy::ConstPtr& joy);
00088   void setPreviousJoystick(const Joy::ConstPtr& joy) {
00089     m_previousJoystick = joy;
00090   }
00091 
00092   bool m_enabled;
00093 
00094 
00095 
00100   template<class M, class T>
00101   ros::Subscriber subscribeToJoystick(void(T::*fp)(M), T* obj) {
00102     m_joySub = nh.subscribe<Joy>("joy", 3, fp,obj);
00103     return m_joySub;
00104   }
00105 
00106   bool inhibitWalk(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& res);
00107   bool uninhibitWalk(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& res);
00108   bool axisValid(int axis, const Joy::ConstPtr& joy) const;
00109 
00110   int m_xAxis;
00111   int m_yAxis;
00112   int m_turnAxis;
00113   int m_headYawAxis;
00114   int m_headPitchAxis;
00115   int m_crouchBtn;
00116   int m_initPoseBtn;
00117   int m_enableBtn;
00118   int m_modifyHeadBtn;
00119   int m_startScanBtn;
00120   int m_stopScanBtn;
00121   double m_maxVx;
00122   double m_maxVy;
00123   double m_maxVw;
00124   double m_maxHeadYaw;
00125   double m_maxHeadPitch;
00126   ros::Duration m_bodyPoseTimeOut;
00127   int m_inhibitCounter;
00128 
00129   bool m_previousJoystick_initialized;
00130   Joy::ConstPtr m_previousJoystick;
00131 
00132   ros::Publisher m_movePub;
00133   ros::Publisher m_moveBtnPub;
00134   ros::Publisher m_headPub;
00135   ros::Subscriber m_joySub;
00136   ros::Publisher m_speechPub;
00137   ros::ServiceServer m_inhibitWalkSrv;
00138   ros::ServiceServer m_uninhibitWalkSrv;
00139   ros::ServiceClient m_cmdVelClient;
00140   ros::ServiceClient m_stiffnessDisableClient;
00141   ros::ServiceClient m_stiffnessEnableClient;
00142   actionlib::SimpleActionClient<nao_msgs::BodyPoseAction> m_bodyPoseClient;
00143   geometry_msgs::Twist m_motion;
00144   nao_msgs::JointAnglesWithSpeed m_headAngles;
00145 };
00146 }
00147 
00148 #endif
teleop_nao_joy.h
