Implementation of teleoperation node. More...

Classes
struct	base_module_struct
struct	combined_joints_struct
struct	joint_module
Public Member Functions
void	getConfigurationFromParameters ()
void	init ()
	Initializes node to get parameters, subscribe to topics.
void	joint_states_cb (const sensor_msgs::JointState::ConstPtr &joint_states_msg)
	Executes the callback from the joint_states topic. (published by joint state driver)
void	joy_cb (const sensor_msgs::Joy::ConstPtr &joy_msg)
	Executes the callback from the joystick topic.
void	setInitValues ()
	Sets initial values for target velocities.
	TeleopCOB ()
	Constructor for TeleopCOB class.
void	update ()
	Main routine for updating all components.
void	update_base ()
	Routine for updating the base commands.
void	update_joint_modules ()
	~TeleopCOB ()
	Destructor for TeleopCOB class.
Public Attributes
int	arm_joint12_button_
int	arm_joint34_button_
int	arm_joint56_button_
int	arm_joint7_button_
int	axis_vth_
int	axis_vx_
int	axis_vy_
struct TeleopCOB::base_module_struct	base_module_
bool	base_safety_
int	base_safety_button_
struct TeleopCOB::combined_joints_struct	combined_joints_
int	deadman_button_
bool	got_init_values_
bool	has_base_module_
std::vector< double >	joint_init_values_
std::map< std::string, joint_module >	joint_modules_
std::vector< std::string >	joint_names_
ros::Subscriber	joint_states_sub_
bool	joy_active_
ros::Subscriber	joy_sub_
int	left_right_
int	lower_neck_button_
ros::NodeHandle	n_
int	recover_base_button_
int	run_button_
double	run_factor_
double	run_factor_param_
int	stop_base_button_
bool	stopped_
double	time_for_init_
int	tray_button_
int	up_down_
int	upper_neck_button_
Private Member Functions
bool	assign_base_module (XmlRpc::XmlRpcValue)
bool	assign_joint_module (std::string, XmlRpc::XmlRpcValue)

Detailed Description

Implementation of teleoperation node.

Sends direct commands to different components

Definition at line 85 of file cob_teleop.cpp.

Constructor & Destructor Documentation

TeleopCOB::TeleopCOB ( )

Constructor for TeleopCOB class.

Definition at line 332 of file cob_teleop.cpp.

TeleopCOB::~TeleopCOB ( )

Destructor for TeleopCOB class.

Definition at line 356 of file cob_teleop.cpp.

Member Function Documentation

bool TeleopCOB::assign_base_module ( XmlRpc::XmlRpcValue mod_struct ) [private]

Tries to read base module configurations from XmlRpcValue object. A base module is supposed to contain vectors 3 element vectors (x,y,th) with max acceleration and velocity. Example: struct { max_velocity: [0.3, 0.2, 0.3], max_acceleration: [0.5, 0.5, 0.7] }

Parameters:

mod_struct configuration object struct

Returns:: true no check is currently performed TODO check

Definition at line 273 of file cob_teleop.cpp.

bool TeleopCOB::assign_joint_module	(	std::string	mod_name,
		XmlRpc::XmlRpcValue	mod_struct
	)		`[private]`

Tries to read joint module configurations from XmlRpcValue object. If the module is a joint module, it contains a joint name array. A typical joint module has the following configuration structure: struct { joint_names: ['head_pan_joint','head_tilt_joint'], joint_step: 0.075 }

Parameters:

mod_struct configuration object struct