#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <wpi_jaco_msgs/AngularCommand.h>
#include <wpi_jaco_msgs/CartesianCommand.h>
#include <signal.h>
#include <stdio.h>
#include <termios.h>

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Classes
class	jaco_key_teleop
Defines
#define	ARM_CONTROL 0
#define	FINGER_CONTROL 1
#define	KEYCODE_1 0x31
#define	KEYCODE_2 0x32
#define	KEYCODE_3 0x33
#define	KEYCODE_A 0x61
#define	KEYCODE_D 0x64
#define	KEYCODE_DOWN 0x42
#define	KEYCODE_E 0x65
#define	KEYCODE_F 0x66
#define	KEYCODE_H 0x68
#define	KEYCODE_LEFT 0x44
#define	KEYCODE_Q 0x71
#define	KEYCODE_R 0x72
#define	KEYCODE_RIGHT 0x43
#define	KEYCODE_S 0x73
#define	KEYCODE_UP 0x41
#define	KEYCODE_W 0x77
	Allows for control of the JACO arm with a keyboard.
#define	MAX_ANG_VEL 1.047
#define	MAX_FINGER_VEL 30
#define	MAX_TRANS_VEL .175
Functions
int	main (int argc, char **argv)
	Creates and runs the jaco_key_teleop node.
void	shutdown (int sig)
	A function to close ROS and exit the program.

Define Documentation

#define ARM_CONTROL 0

Definition at line 72 of file jaco_key_teleop.h.

#define FINGER_CONTROL 1

Definition at line 73 of file jaco_key_teleop.h.

#define KEYCODE_1 0x31

Definition at line 66 of file jaco_key_teleop.h.

#define KEYCODE_2 0x32

Definition at line 67 of file jaco_key_teleop.h.

#define KEYCODE_3 0x33

Definition at line 68 of file jaco_key_teleop.h.

#define KEYCODE_A 0x61

Definition at line 55 of file jaco_key_teleop.h.

#define KEYCODE_D 0x64

Definition at line 57 of file jaco_key_teleop.h.

#define KEYCODE_DOWN 0x42

Definition at line 65 of file jaco_key_teleop.h.

#define KEYCODE_E 0x65

Definition at line 59 of file jaco_key_teleop.h.

#define KEYCODE_F 0x66

Definition at line 61 of file jaco_key_teleop.h.

#define KEYCODE_H 0x68

Definition at line 69 of file jaco_key_teleop.h.

#define KEYCODE_LEFT 0x44

Definition at line 63 of file jaco_key_teleop.h.

#define KEYCODE_Q 0x71

Definition at line 58 of file jaco_key_teleop.h.

#define KEYCODE_R 0x72

Definition at line 60 of file jaco_key_teleop.h.

#define KEYCODE_RIGHT 0x43

Definition at line 62 of file jaco_key_teleop.h.

#define KEYCODE_S 0x73

Definition at line 56 of file jaco_key_teleop.h.

#define KEYCODE_UP 0x41

Definition at line 64 of file jaco_key_teleop.h.

#define KEYCODE_W 0x77

Allows for control of the JACO arm with a keyboard.

.h jaco_key_teleop creates a ROS node that allows the control of the JACO arm with a keyboard.

Author:: David Kent, GT - dekent@gatech.edu

Date:: June 26, 2014

Definition at line 54 of file jaco_key_teleop.h.

#define MAX_ANG_VEL 1.047

The maximum angular velocity.

Definition at line 93 of file jaco_key_teleop.h.

#define MAX_FINGER_VEL 30

The maximum velocity for a finger.

Definition at line 86 of file jaco_key_teleop.h.

#define MAX_TRANS_VEL .175

The maximum translational velocity.

Definition at line 80 of file jaco_key_teleop.h.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Creates and runs the jaco_key_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

Creates and runs the jaco_key_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 432 of file jaco_joy_teleop.cpp.

void shutdown ( int sig )

A function to close ROS and exit the program.

Parameters:

sig	The signal value.

Definition at line 343 of file jaco_key_teleop.cpp.

Classes

Defines

Functions

Define Documentation

Function Documentation