youbot_joy_teleop.cpp

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 *   Author: Russell Toris
 *  Version: Aug 2, 2012
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#include <geometry_msgs/Twist.h>
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <youbot_teleop/youbot_joy_teleop.h>

using namespace std;

youbot_joy_teleop::youbot_joy_teleop()
{
  // create the ROS topics
  cmd_vel = node.advertise<geometry_msgs::Twist>("cmd_vel", 10);
  joy_sub = node.subscribe<sensor_msgs::Joy>("joy", 10, &youbot_joy_teleop::joy_cback, this);

  ROS_INFO("YouBot Joystick Teleop Started");
}

void youbot_joy_teleop::joy_cback(const sensor_msgs::Joy::ConstPtr& joy)
{
  // create the twist message
  geometry_msgs::Twist twist;
  // left joystick controls the linear movement
  twist.linear.x = joy->axes.at(1);
  twist.linear.y = joy->axes.at(0);
  twist.linear.z = 0;
  // right joystick controls the angular movement
  twist.angular.x = 0;
  twist.angular.y = 0;
  twist.angular.z = joy->axes.at(2);
  // send the twist command
  cmd_vel.publish(twist);
}

int main(int argc, char **argv)
{
  // initialize ROS and the node
  ros::init(argc, argv, "youbot_joy_teleop");

  // initialize the joystick controller
  youbot_joy_teleop controller;

  // continue until a ctrl-c has occurred
  ros::spin();
}