19 #ifndef OPEN_MANIPULATOR_P_TELEOP_JOYSTICK_H_ 20 #define OPEN_MANIPULATOR_P_TELEOP_JOYSTICK_H_ 25 #include <sensor_msgs/JointState.h> 26 #include <sensor_msgs/Joy.h> 28 #include "open_manipulator_msgs/SetJointPosition.h" 29 #include "open_manipulator_msgs/SetKinematicsPose.h" 32 #define NUM_OF_JOINT 6 34 #define JOINT_DELTA 0.05 76 void joyCallback(
const sensor_msgs::Joy::ConstPtr &msg);
85 bool setJointSpacePath(std::vector<std::string> joint_name, std::vector<double> joint_angle,
double path_time);
91 #endif // OPEN_MANIPULATOR_P_TELEOP_JOYSTICK_H_
ros::ServiceClient goal_joint_space_path_client_
void jointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
ros::ServiceClient goal_tool_control_client_
bool setTaskSpacePathFromPresentPositionOnly(std::vector< double > kinematics_pose, double path_time)
void kinematicsPoseCallback(const open_manipulator_msgs::KinematicsPose::ConstPtr &msg)
std::vector< double > present_joint_angle_
bool setJointSpacePath(std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
std::vector< double > present_kinematic_position_
ros::ServiceClient goal_task_space_path_from_present_position_only_client_
ros::NodeHandle priv_node_handle_
ros::Subscriber joy_command_sub_
void joyCallback(const sensor_msgs::Joy::ConstPtr &msg)
void setGoal(const char *str)
ros::Subscriber joint_states_sub_
bool setToolControl(std::vector< double > joint_angle)
ros::Subscriber kinematics_pose_sub_
ros::NodeHandle node_handle_