cob_teleop.cpp File Reference

Implementation of teleoperation node. More...

#include <cstdlib>
#include <cstdio>
#include <unistd.h>
#include <XmlRpcValue.h>
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <sensor_msgs/JointState.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <geometry_msgs/Twist.h>
#include <cob_srvs/Trigger.h>
#include <brics_actuator/JointPositions.h>
#include <brics_actuator/JointVelocities.h>

Include dependency graph for cob_teleop.cpp:

Go to the source code of this file.

Classes
struct	TeleopCOB::base_module_struct
struct	TeleopCOB::combined_joints_struct
struct	TeleopCOB::joint_module
class	TeleopCOB
	Implementation of teleoperation node. More...
Functions
int	main (int argc, char **argv)
	Main loop of ROS node.
Variables
const int	PUBLISH_FREQ = 100.0

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Detailed Description

Implementation of teleoperation node.

Note:

Copyright (c) 2010
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: care-o-bot

ROS stack name: cob_apps

ROS package name: cob_teleop

Author:

Author: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de

Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de

Changed by Sofie Nilsson Jan 2011: Read module configuration from parameter server. Joysick map to joints is still not as general as it should be.

Date:

Date of creation: June 2010

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file cob_teleop.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Main loop of ROS node.

Running with a specific frequency defined by loop_rate.

Definition at line 994 of file cob_teleop.cpp.

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Variable Documentation

const int PUBLISH_FREQ = 100.0

Definition at line 78 of file cob_teleop.cpp.