nao_teleop: teleop_nao_joy.h Source File

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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 #include <sensor_msgs/Joy.h>
00048 
00049 
00050 namespace nao_teleop{
00056 class TeleopNaoJoy
00057 {
00058 public:
00059   TeleopNaoJoy();
00060   void pubMsg();
00061   ros::NodeHandle nh;
00062   ros::NodeHandle privateNh;
00063 
00067   ros::Subscriber subscribeToJoystick();
00068 
00073   bool callBodyPoseClient(const std::string& poseName);
00074 
00075 
00076 protected:
00077   void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
00078   bool buttonPressed(int button, const sensor_msgs::Joy::ConstPtr& joy) const;
00079   bool buttonTriggered(int button, const sensor_msgs::Joy::ConstPtr& joy) const;
00080   bool buttonChanged(int button, const sensor_msgs::Joy::ConstPtr& joy, const sensor_msgs::Joy::ConstPtr& prevJoy) const;
00081   void initializePreviousJoystick(const sensor_msgs::Joy::ConstPtr& joy);
00082   void setPreviousJoystick(const sensor_msgs::Joy::ConstPtr& joy) {
00083     m_previousJoystick = joy;
00084   }
00085 
00086   bool m_enabled;
00087 
00088 
00089 
00094   template<class M, class T>
00095   ros::Subscriber subscribeToJoystick(void(T::*fp)(M), T* obj) {
00096     m_joySub = nh.subscribe<sensor_msgs::Joy>("joy", 3, fp,obj);
00097     return m_joySub;
00098   }
00099 
00100   bool inhibitWalk(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& res);
00101   bool uninhibitWalk(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& res);
00102   bool axisValid(int axis, const sensor_msgs::Joy::ConstPtr& joy) const;
00103 
00104   int m_xAxis;
00105   int m_yAxis;
00106   int m_turnAxis;
00107   int m_headYawAxis;
00108   int m_headPitchAxis;
00109   int m_crouchBtn;
00110   int m_initPoseBtn;
00111   int m_enableBtn;
00112   int m_modifyHeadBtn;
00113   int m_startScanBtn;
00114   int m_stopScanBtn;
00115   double m_maxVx;
00116   double m_maxVy;
00117   double m_maxVw;
00118   double m_maxHeadYaw;
00119   double m_maxHeadPitch;
00120   ros::Duration m_bodyPoseTimeOut;
00121   int m_inhibitCounter;
00122 
00123   bool m_previousJoystick_initialized;
00124   sensor_msgs::Joy::ConstPtr m_previousJoystick;
00125 
00126   ros::Publisher m_movePub;
00127   ros::Publisher m_moveBtnPub;
00128   ros::Publisher m_headPub;
00129   ros::Subscriber m_joySub;
00130   ros::Publisher m_speechPub;
00131   ros::ServiceServer m_inhibitWalkSrv;
00132   ros::ServiceServer m_uninhibitWalkSrv;
00133   ros::ServiceClient m_cmdVelClient;
00134   ros::ServiceClient m_stiffnessDisableClient;
00135   ros::ServiceClient m_stiffnessEnableClient;
00136   actionlib::SimpleActionClient<nao_msgs::BodyPoseAction> m_bodyPoseClient;
00137   geometry_msgs::Twist m_motion;
00138   nao_msgs::JointAnglesWithSpeed m_headAngles;
00139 };
00140 }
00141 
00142 #endif