arm_mover.cpp

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#include "arm_mover.h"

#include <geometry_msgs/PoseStamped.h>

ArmMover::ArmMover( ros::NodeHandle pnh )
{
  joy_sub_ = nh_.subscribe<sensor_msgs::Joy>( "joy", 1, boost::bind(&ArmMover::joyCb, this, _1) );

  command_pub_ = nh_.advertise<geometry_msgs::PoseStamped>( "command", 1 );

  pnh.param<std::string>( "tracked_frame", pose_msg_.header.frame_id, "" );

  pnh.param<int>( "deadman_button", deadman_button_, 0 );

  pnh.param<double>( "update_freq", update_freq_, 0.1 );
}

ArmMover::~ArmMover()
{
}

void ArmMover::joyCb( sensor_msgs::JoyConstPtr joy_msg )
{
  if ( ros::Time::now() - last_update_time_ < ros::Duration(update_freq_) )
  {
    return;
  }

  if ( joy_msg->buttons.size() <= deadman_button_  )
  {
    ROS_ERROR_ONCE("Button index for deadman switch is out of bounds!");
    return;
  }

  if ( joy_msg->buttons.at(deadman_button_) )
  {
    last_update_time_ = ros::Time::now();
    pose_msg_.header.stamp = ros::Time::now();
    pose_msg_.pose.orientation.w = 1;
    command_pub_.publish( pose_msg_ );
  }
}