00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2012, Worcester Polytechnic Institute 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Worcester Polytechnic Institute nor the 00019 * names of its contributors may be used to endorse or promote 00020 * products derived from this software without specific prior 00021 * written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * Author: Russell Toris 00037 * Version: Aug 2, 2012 00038 * 00039 *********************************************************************/ 00040 00052 #ifndef YOUBOT_JOY_TELEOP_H_ 00053 #define YOUBOT_JOY_TELEOP_H_ 00054 00055 #include <geometry_msgs/Twist.h> 00056 #include <ros/ros.h> 00057 #include <sensor_msgs/Joy.h> 00058 00065 class youbot_joy_teleop 00066 { 00067 public: 00073 youbot_joy_teleop(); 00074 00075 private: 00081 void joy_cback(const sensor_msgs::Joy::ConstPtr& joy); 00082 00083 ros::NodeHandle node; 00085 ros::Publisher cmd_vel; 00086 ros::Subscriber joy_sub; 00087 }; 00088 00096 int main(int argc, char **argv); 00097 00098 #endif