Public Member Functions | |
| void | ControlLoop () |
| Controls the actions and states. | |
| RbcarPad () | |
| int | SetStateMode (int state, int arm_mode, int platform_mode) |
Private Member Functions | |
| bool | EnableDisable (robotnik_msgs::enable_disable::Request &req, robotnik_msgs::enable_disable::Response &res) |
| Enables/Disables the joystick. | |
| void | joyCallback (const sensor_msgs::Joy::ConstPtr &joy) |
| void | PublishState () |
| char * | StateToString (int state) |
| int | SwitchToState (int new_state) |
| void | Update () |
Private Attributes | |
| double | a_scale_ |
| int | axis_angular_position_ |
| int | axis_linear_speed_ |
| bool | bEnable |
| Flag to enable/disable the communication with the publishers topics. | |
| bool | bOutput1 |
| bool | bOutput2 |
| int | button_dead_man_ |
| Number of the DEADMAN button. | |
| int | button_kinematic_mode_ |
| button to change kinematic mode | |
| int | button_speed_down_ |
| int | button_speed_up_ |
| Number of the button for increase or decrease the speed max of the joystick. | |
| std::string | cmd_service_io_ |
| Name of the service where it will be modifying the digital outputs. | |
| std::string | cmd_service_ptz_ |
| Name of the service to move ptz. | |
| std::string | cmd_set_mode_ |
| Name of the service to change the mode. | |
| std::string | cmd_topic_vel |
| Name of the topic where it will be publishing the velocity. | |
| double | current_speed_lvl |
| double | desired_freq_ |
| Desired component's freq. | |
| ros::ServiceServer | enable_disable_srv_ |
| Service clients. | |
| std::vector< float > | fAxes |
| Vector to save the axis values. | |
| ros::Subscriber | joy_sub_ |
| they will be suscribed to the joysticks | |
| std::string | joy_topic_ |
| // Name of the joystick's topic | |
| int | kinematic_mode_ |
| kinematic mode | |
| double | l_scale_ |
| double | max_angular_position_ |
| double | max_freq_command |
| Diagnostics max freq. | |
| double | max_freq_joy |
| double | max_linear_speed_ |
| Set the max speed sent to the robot. | |
| double | min_freq_command |
| Diagnostics min freq. | |
| double | min_freq_joy |
| ros::NodeHandle | nh_ |
| int | num_of_axes_ |
| int | num_of_buttons_ |
| Current number of buttons of the joystick. | |
| int | output_1_ |
| int | output_2_ |
| ros::NodeHandle | pnh_ |
| int | ptz_pan_left_ |
| int | ptz_pan_right_ |
| int | ptz_tilt_down_ |
| int | ptz_tilt_up_ |
| buttons to the pan-tilt camera | |
| diagnostic_updater::HeaderlessTopicDiagnostic * | pub_command_freq |
| Diagnostic to control the frequency of the published command velocity topic. | |
| ros::ServiceClient | set_digital_outputs_client_ |
| ros::ServiceClient | setKinematicMode |
| Service to modify the kinematic mode. | |
| ros::Publisher | state_pub_ |
| Topic to publish the state. | |
| diagnostic_updater::HeaderlessTopicDiagnostic * | sus_joy_freq |
| Diagnostic to control the reception frequency of the subscribed joy topic. | |
| std::string | topic_state_ |
| topic name for the state | |
| diagnostic_updater::Updater | updater_pad |
| General status diagnostic updater. | |
| std::vector< Button > | vButtons |
| Vector to save and control the axis values. | |
| ros::Publisher | vel_pub_ |
| It will publish into command velocity (for the robot) | |
Definition at line 106 of file rbcar_pad.cpp.
Definition at line 202 of file rbcar_pad.cpp.
| void RbcarPad::ControlLoop | ( | ) |
Controls the actions and states.
Definition at line 343 of file rbcar_pad.cpp.
| bool RbcarPad::EnableDisable | ( | robotnik_msgs::enable_disable::Request & | req, |
| robotnik_msgs::enable_disable::Response & | res | ||
| ) | [private] |
Enables/Disables the joystick.
Definition at line 319 of file rbcar_pad.cpp.
| void RbcarPad::joyCallback | ( | const sensor_msgs::Joy::ConstPtr & | joy | ) | [private] |
Definition at line 328 of file rbcar_pad.cpp.
| void RbcarPad::PublishState | ( | ) | [private] |
Definition at line 304 of file rbcar_pad.cpp.
| int RbcarPad::SetStateMode | ( | int | state, |
| int | arm_mode, | ||
| int | platform_mode | ||
| ) |
| char* RbcarPad::StateToString | ( | int | state | ) | [private] |
| int RbcarPad::SwitchToState | ( | int | new_state | ) | [private] |
| void RbcarPad::Update | ( | ) | [private] |
Definition at line 299 of file rbcar_pad.cpp.
double RbcarPad::a_scale_ [private] |
Definition at line 131 of file rbcar_pad.cpp.
int RbcarPad::axis_angular_position_ [private] |
Definition at line 130 of file rbcar_pad.cpp.
int RbcarPad::axis_linear_speed_ [private] |
Definition at line 130 of file rbcar_pad.cpp.
bool RbcarPad::bEnable [private] |
Flag to enable/disable the communication with the publishers topics.
Definition at line 199 of file rbcar_pad.cpp.
bool RbcarPad::bOutput1 [private] |
Definition at line 173 of file rbcar_pad.cpp.
bool RbcarPad::bOutput2 [private] |
Definition at line 173 of file rbcar_pad.cpp.
int RbcarPad::button_dead_man_ [private] |
Number of the DEADMAN button.
Definition at line 169 of file rbcar_pad.cpp.
int RbcarPad::button_kinematic_mode_ [private] |
button to change kinematic mode
Definition at line 179 of file rbcar_pad.cpp.
int RbcarPad::button_speed_down_ [private] |
Definition at line 171 of file rbcar_pad.cpp.
int RbcarPad::button_speed_up_ [private] |
Number of the button for increase or decrease the speed max of the joystick.
Definition at line 171 of file rbcar_pad.cpp.
std::string RbcarPad::cmd_service_io_ [private] |
Name of the service where it will be modifying the digital outputs.
Definition at line 148 of file rbcar_pad.cpp.
std::string RbcarPad::cmd_service_ptz_ [private] |
Name of the service to move ptz.
Definition at line 177 of file rbcar_pad.cpp.
std::string RbcarPad::cmd_set_mode_ [private] |
Name of the service to change the mode.
Definition at line 185 of file rbcar_pad.cpp.
std::string RbcarPad::cmd_topic_vel [private] |
Name of the topic where it will be publishing the velocity.
Definition at line 146 of file rbcar_pad.cpp.
double RbcarPad::current_speed_lvl [private] |
Definition at line 132 of file rbcar_pad.cpp.
double RbcarPad::desired_freq_ [private] |
Desired component's freq.
Definition at line 136 of file rbcar_pad.cpp.
Service clients.
Definition at line 156 of file rbcar_pad.cpp.
std::vector<float> RbcarPad::fAxes [private] |
Vector to save the axis values.
Definition at line 165 of file rbcar_pad.cpp.
ros::Subscriber RbcarPad::joy_sub_ [private] |
they will be suscribed to the joysticks
Definition at line 142 of file rbcar_pad.cpp.
std::string RbcarPad::joy_topic_ [private] |
// Name of the joystick's topic
Definition at line 144 of file rbcar_pad.cpp.
int RbcarPad::kinematic_mode_ [private] |
kinematic mode
Definition at line 181 of file rbcar_pad.cpp.
double RbcarPad::l_scale_ [private] |
Definition at line 131 of file rbcar_pad.cpp.
double RbcarPad::max_angular_position_ [private] |
Definition at line 134 of file rbcar_pad.cpp.
double RbcarPad::max_freq_command [private] |
Diagnostics max freq.
Definition at line 197 of file rbcar_pad.cpp.
double RbcarPad::max_freq_joy [private] |
Definition at line 197 of file rbcar_pad.cpp.
double RbcarPad::max_linear_speed_ [private] |
Set the max speed sent to the robot.
Definition at line 134 of file rbcar_pad.cpp.
double RbcarPad::min_freq_command [private] |
Diagnostics min freq.
Definition at line 195 of file rbcar_pad.cpp.
double RbcarPad::min_freq_joy [private] |
Definition at line 195 of file rbcar_pad.cpp.
ros::NodeHandle RbcarPad::nh_ [private] |
Definition at line 128 of file rbcar_pad.cpp.
int RbcarPad::num_of_axes_ [private] |
Definition at line 162 of file rbcar_pad.cpp.
int RbcarPad::num_of_buttons_ [private] |
Current number of buttons of the joystick.
Definition at line 161 of file rbcar_pad.cpp.
int RbcarPad::output_1_ [private] |
Definition at line 172 of file rbcar_pad.cpp.
int RbcarPad::output_2_ [private] |
Definition at line 172 of file rbcar_pad.cpp.
ros::NodeHandle RbcarPad::pnh_ [private] |
Definition at line 128 of file rbcar_pad.cpp.
int RbcarPad::ptz_pan_left_ [private] |
Definition at line 175 of file rbcar_pad.cpp.
int RbcarPad::ptz_pan_right_ [private] |
Definition at line 175 of file rbcar_pad.cpp.
int RbcarPad::ptz_tilt_down_ [private] |
Definition at line 175 of file rbcar_pad.cpp.
int RbcarPad::ptz_tilt_up_ [private] |
buttons to the pan-tilt camera
Definition at line 175 of file rbcar_pad.cpp.
Diagnostic to control the frequency of the published command velocity topic.
Definition at line 189 of file rbcar_pad.cpp.
Definition at line 157 of file rbcar_pad.cpp.
ros::ServiceClient RbcarPad::setKinematicMode [private] |
Service to modify the kinematic mode.
Definition at line 183 of file rbcar_pad.cpp.
ros::Publisher RbcarPad::state_pub_ [private] |
Topic to publish the state.
Definition at line 152 of file rbcar_pad.cpp.
Diagnostic to control the reception frequency of the subscribed joy topic.
Definition at line 191 of file rbcar_pad.cpp.
std::string RbcarPad::topic_state_ [private] |
topic name for the state
Definition at line 150 of file rbcar_pad.cpp.
General status diagnostic updater.
Definition at line 193 of file rbcar_pad.cpp.
std::vector<Button> RbcarPad::vButtons [private] |
Vector to save and control the axis values.
Definition at line 167 of file rbcar_pad.cpp.
ros::Publisher RbcarPad::vel_pub_ [private] |
It will publish into command velocity (for the robot)
Definition at line 140 of file rbcar_pad.cpp.