1 #ifndef OPEN_MANIPULATOR_TELEOP_H 2 #define OPEN_MANIPULATOR_TELEOP_H 5 #include <sensor_msgs/JointState.h> 6 #include <sensor_msgs/Joy.h> 9 #include "open_manipulator_msgs/SetJointPosition.h" 10 #include "open_manipulator_msgs/SetKinematicsPose.h" 12 #define NUM_OF_JOINT 4 14 #define JOINT_DELTA 0.05 45 void joyCallback(
const sensor_msgs::Joy::ConstPtr &msg);
50 bool setJointSpacePath(std::vector<std::string> joint_name, std::vector<double> joint_angle,
double path_time);
59 #endif //OPEN_MANIPULATOR_TELEOP_H
std::vector< double > getPresentKinematicsPose()
ros::ServiceClient goal_joint_space_path_client_
void jointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
ros::ServiceClient goal_tool_control_client_
std::vector< double > getPresentJointAngle()
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_