pr2_teleop_general_commander.cpp File Reference

#include <string>
#include <boost/bind.hpp>
#include <pr2_mechanism_msgs/SwitchController.h>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "ros/service_traits.h"
#include "geometry_msgs/Vector3.h"
#include <trajectory_msgs/JointTrajectory.h>
#include "std_msgs/Header.h"
#include "sensor_msgs/JointState.h"
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/PoseStamped.h"
#include "motion_planning_msgs/RobotState.h"
#include "motion_planning_msgs/ArmNavigationErrorCodes.h"
#include <cstdio>
#include <cstdlib>
#include <unistd.h>
#include <math.h>
#include <ros/ros.h>
#include <joy/Joy.h>
#include <pr2_msgs/SetPeriodicCmd.h>
#include <urdf/model.h>
#include <actionlib/client/simple_action_client.h>
#include <pr2_controllers_msgs/PointHeadAction.h>
#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <pr2_common_action_msgs/TuckArmsAction.h>
#include <pr2_msgs/PowerBoardState.h>

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Variables
static const double	GRIPPER_CLOSE_MAX_EFFORT = 10000.0
static const double	GRIPPER_CLOSE_POSITION = 0.000
static const double	GRIPPER_OPEN_MAX_EFFORT = 10000.0
static const double	GRIPPER_OPEN_POSITION = 0.086
static const std::string	HEAD_MANNEQUIN_CONTROLLER = "head_traj_controller_loose"
static const std::string	HEAD_POSITION_CONTROLLER = "head_traj_controller"
static const std::string	LEFT_ARM_MANNEQUIN_CONTROLLER = "l_arm_controller_loose"
static const std::string	LEFT_HAND_LINK_TO_TRACK = "l_gripper_palm_link"
static const double	MAX_HEAD_TRACK_SPEED = 2.0
static const std::string	RIGHT_ARM_MANNEQUIN_CONTROLLER = "r_arm_controller_loose"
static const std::string	RIGHT_HAND_LINK_TO_TRACK = "r_gripper_palm_link"
static const unsigned int	WALK_BUFFER = 10