#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <rail_manipulation_msgs/ArmAction.h>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Float64.h>
#include <std_srvs/Empty.h>
#include <wpi_jaco_msgs/AngularCommand.h>
#include <wpi_jaco_msgs/CartesianCommand.h>
#include <wpi_jaco_msgs/EStop.h>

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Classes
class	carl_joy_teleop
	Allows for control of CARL with a joystick. More...
Defines
#define	ANALOG 0
#define	ARM_CONTROL 0
	Allows for control of CARL with a joystick.
#define	BASE_CONTROL 2
#define	DIGITAL 1
#define	FINGER_CONTROL 1
#define	MAX_ANG_VEL_ARM 1.047
#define	MAX_ANG_VEL_BASE 1.0
#define	MAX_FINGER_VEL 30
#define	MAX_TRANS_VEL_ARM .175
#define	MAX_TRANS_VEL_BASE 1.0
#define	NON_BOOST_THROTTLE 0.8
#define	SENSOR_CONTROL 3
Functions
int	main (int argc, char **argv)

Define Documentation

#define ANALOG 0

Definition at line 35 of file carl_joy_teleop.h.

#define ARM_CONTROL 0

Allows for control of CARL with a joystick.

.h carl_joy_teleop creates a ROS node that allows the control of CARL with a joystick. This node listens to a /joy topic and sends messages to the /cmd_vel topic for the base and cartesian_cmd for the arm.

Author:: David Kent, WPI - davidkent@wpi.edu; Russell Toris, WPI - russell.toris@gmail.com; Steven Kordell, WPI - spkordell@wpi.edu

Date:: July 24, 2014

Definition at line 29 of file carl_joy_teleop.h.

#define BASE_CONTROL 2

Definition at line 31 of file carl_joy_teleop.h.

#define DIGITAL 1

Definition at line 36 of file carl_joy_teleop.h.

#define FINGER_CONTROL 1

Definition at line 30 of file carl_joy_teleop.h.

#define MAX_ANG_VEL_ARM 1.047

The maximum angular velocity.

Definition at line 51 of file carl_joy_teleop.h.

#define MAX_ANG_VEL_BASE 1.0

Definition at line 72 of file carl_joy_teleop.h.

#define MAX_FINGER_VEL 30

The maximum velocity for a finger.

Definition at line 57 of file carl_joy_teleop.h.

#define MAX_TRANS_VEL_ARM .175

The maximum translational velocity.

Definition at line 44 of file carl_joy_teleop.h.

#define MAX_TRANS_VEL_BASE 1.0

Definition at line 65 of file carl_joy_teleop.h.

#define NON_BOOST_THROTTLE 0.8

The throttle factor for a non-boost command.

Definition at line 79 of file carl_joy_teleop.h.

#define SENSOR_CONTROL 3

Definition at line 32 of file carl_joy_teleop.h.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Creates and runs the carl_joy_teleop node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:: EXIT_SUCCESS if the node runs correctly

Definition at line 688 of file carl_joy_teleop.cpp.

Classes

Defines

Functions

Define Documentation

Function Documentation