Allows for control of the JACO arm with a joystick. More...
#include <jaco_joy_teleop.h>
Public Member Functions | |
| jaco_joy_teleop () | |
| Constructor. | |
| void | publish_velocity () |
| Periodically publish velocity message to the arm controller. | |
Private Member Functions | |
| void | joy_cback (const sensor_msgs::Joy::ConstPtr &joy) |
| Joy topic callback function. | |
| bool | loadParameters (const ros::NodeHandle n) |
Private Attributes | |
| ros::Publisher | angular_cmd |
| double | angular_throttle_factor |
| std::string | arm_name_ |
| bool | calibrated |
| ros::Publisher | cartesian_cmd |
| wpi_jaco_msgs::CartesianCommand | cartesianCmd |
| int | controllerType |
| ros::ServiceClient | eStopClient |
| bool | EStopEnabled |
| double | finger_throttle_factor |
| wpi_jaco_msgs::AngularCommand | fingerCmd |
| bool | helpDisplayed |
| bool | initLeftTrigger |
| bool | initRightTrigger |
| ros::Subscriber | joy_sub |
| double | linear_throttle_factor |
| int | mode |
| ros::NodeHandle | node |
| bool | stopMessageSentArm |
| bool | stopMessageSentFinger |
| std::string | topic_prefix_ |
Allows for control of the JACO arm with a joystick.
Allows for control of the JACO arm with a keyboard.
jaco_joy_teleop creates a ROS node that allows for the control of the JACO arm with a joystick. This node listens to a /joy topic.
jaco_joy_teleop creates a ROS node that allows for the control of the JACO arm with a keyboard, by reading keyboard input to a terminal.
Definition at line 56 of file jaco_joy_teleop.h.
Constructor.
Creates a jaco_joy_teleop object that can be used control the JACO arm with a joystick. ROS nodes, services, and publishers are created and maintained within this object.
Definition at line 16 of file jaco_joy_teleop.cpp.
| void jaco_joy_teleop::joy_cback | ( | const sensor_msgs::Joy::ConstPtr & | joy | ) | [private] |
Joy topic callback function.
| joy | the message for the joy topic |
Definition at line 87 of file jaco_joy_teleop.cpp.
| bool jaco_joy_teleop::loadParameters | ( | const ros::NodeHandle | n | ) | [private] |
Definition at line 418 of file jaco_joy_teleop.cpp.
| void jaco_joy_teleop::publish_velocity | ( | ) |
Periodically publish velocity message to the arm controller.
Definition at line 369 of file jaco_joy_teleop.cpp.
ros::Publisher jaco_joy_teleop::angular_cmd [private] |
angular arm command topic
Definition at line 85 of file jaco_joy_teleop.h.
double jaco_joy_teleop::angular_throttle_factor [private] |
factor for reducing the angular speed
Definition at line 97 of file jaco_joy_teleop.h.
std::string jaco_joy_teleop::arm_name_ [private] |
Definition at line 106 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::calibrated [private] |
flag for whether the controller is calibrated, this only affects controllers with analog triggers
Definition at line 103 of file jaco_joy_teleop.h.
ros::Publisher jaco_joy_teleop::cartesian_cmd [private] |
cartesian arm command topic
Definition at line 86 of file jaco_joy_teleop.h.
wpi_jaco_msgs::CartesianCommand jaco_joy_teleop::cartesianCmd [private] |
cartesian movement command
Definition at line 92 of file jaco_joy_teleop.h.
int jaco_joy_teleop::controllerType [private] |
the type of joystick controller
Definition at line 95 of file jaco_joy_teleop.h.
arm software emergency stop service client
Definition at line 89 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::EStopEnabled [private] |
software emergency stop for the arm
Definition at line 104 of file jaco_joy_teleop.h.
double jaco_joy_teleop::finger_throttle_factor [private] |
factor for reducing the finger speed
Definition at line 98 of file jaco_joy_teleop.h.
wpi_jaco_msgs::AngularCommand jaco_joy_teleop::fingerCmd [private] |
finger movement command
Definition at line 91 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::helpDisplayed [private] |
flag so help is not repeatedly displayed
Definition at line 105 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::initLeftTrigger [private] |
flag for whether the left trigger is initialized
Definition at line 101 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::initRightTrigger [private] |
flag for whether the right trigger is initialized
Definition at line 102 of file jaco_joy_teleop.h.
ros::Subscriber jaco_joy_teleop::joy_sub [private] |
the joy topic
Definition at line 87 of file jaco_joy_teleop.h.
double jaco_joy_teleop::linear_throttle_factor [private] |
factor for reducing the linear speed
Definition at line 96 of file jaco_joy_teleop.h.
int jaco_joy_teleop::mode [private] |
the control mode
Definition at line 94 of file jaco_joy_teleop.h.
ros::NodeHandle jaco_joy_teleop::node [private] |
a handle for this ROS node
Definition at line 83 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::stopMessageSentArm [private] |
flag to prevent the arm stop command from being sent repeatedly when the controller is in the neutral position
Definition at line 99 of file jaco_joy_teleop.h.
bool jaco_joy_teleop::stopMessageSentFinger [private] |
flag to prevent the finger stop command from being sent repeatedly when the controller is in the neutral position
Definition at line 100 of file jaco_joy_teleop.h.
std::string jaco_joy_teleop::topic_prefix_ [private] |
Definition at line 107 of file jaco_joy_teleop.h.