Program Listing for File remote_reciever.hpp
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// Copyright 2021 PickNik Inc.
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/* Author: Dave Coleman
Desc: Object for wrapping remote control functionality
*/
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
namespace rviz_visual_tools
{
class RemoteReciever : public rclcpp::Node
{
public:
RemoteReciever(const std::string& nodeName) : rclcpp::Node(nodeName)
{
joy_publisher_ =
this->create_publisher<sensor_msgs::msg::Joy>("/rviz_visual_tools_gui", rclcpp::QoS(100));
}
void publishNext()
{
RCLCPP_DEBUG(this->get_logger(), "Next");
sensor_msgs::msg::Joy msg;
msg.buttons.resize(9);
msg.buttons[1] = 1;
joy_publisher_->publish(msg);
}
void publishContinue()
{
RCLCPP_DEBUG(this->get_logger(), "Continue");
sensor_msgs::msg::Joy msg;
msg.buttons.resize(9);
msg.buttons[2] = 1;
joy_publisher_->publish(msg);
}
void publishBreak()
{
RCLCPP_DEBUG(this->get_logger(), "Break");
sensor_msgs::msg::Joy msg;
msg.buttons.resize(9);
msg.buttons[3] = 1;
joy_publisher_->publish(msg);
}
void publishStop()
{
RCLCPP_DEBUG(this->get_logger(), "Stop");
sensor_msgs::msg::Joy msg;
msg.buttons.resize(9);
msg.buttons[4] = 1;
joy_publisher_->publish(msg);
}
protected:
// The ROS publishers
rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr joy_publisher_;
};
} // end namespace rviz_visual_tools