#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Twist.h>
#include <robotnik_msgs/ptz.h>
#include <unistd.h>
#include <robotnik_msgs/set_mode.h>
#include <rb1_base_pad/enable_disable_pad.h>
#include <robotnik_msgs/set_digital_output.h>
#include <robotnik_msgs/home.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <robotnik_msgs/SetElevator.h>
#include <robotnik_msgs/ElevatorAction.h>

Include dependency graph for rb1_base_pad.cpp:

Macros
#define	DEFAULT_AXIS_ANGULAR 2

#define	DEFAULT_AXIS_LINEAR_X 1

#define	DEFAULT_AXIS_LINEAR_Y 0

#define	DEFAULT_AXIS_LINEAR_Z 3

#define	DEFAULT_NUM_OF_BUTTONS 16

#define	DEFAULT_SCALE_ANGULAR 2.0

#define	DEFAULT_SCALE_LINEAR 1.0

#define	DEFAULT_SCALE_LINEAR_Z 1.0

#define	ITERATIONS_AFTER_DEADMAN 3.0

#define	JOY_ERROR_TIME 1.0

Functions
bool	EnableDisablePad (rb1_base_pad::enable_disable_pad::Request &req, rb1_base_pad::enable_disable_pad::Response &res)

int	main (int argc, char **argv)

void	padCallback (const sensor_msgs::Joy::ConstPtr &joy)

void	Update ()

Variables
double	a_scale_

int	angular_

int	axis_elevator_

bool	bOutput1

bool	bOutput2

bool	bRegisteredButtonEvent [DEFAULT_NUM_OF_BUTTONS]
	Pointer to a vector for controlling the event when pushing the buttons. More...

int	button_home_
	button to start the homing service More...

int	button_kinematic_mode_
	button to change kinematic mode More...

int	button_lower_elevator_

int	button_output_1_

int	button_output_2_

int	button_raise_elevator_

int	button_stop_elevator_

bool	check_message_timeout_
	If it is True, it will check the timeout message. More...

std::string	cmd_home_
	Name of the service to do the homing. More...

std::string	cmd_service_io_
	Name of the service where it will be modifying the digital outputs. More...

std::string	cmd_set_mode_
	Name of the service to change the mode. More...

std::string	cmd_topic_ptz_
	Name of the topic where it will be publishing the pant-tilt values. More...

std::string	cmd_topic_vel_
	Name of the topic where it will be publishing the velocity. More...

double	current_vel

int	dead_man_button_
	Number of the DEADMAN button. More...

ros::ServiceClient	doHome
	Service to start homing. More...

std::string	elevator_service_name_
	Name of the service where to actuate the elevator. More...

int	kinematic_mode_
	kinematic mode More...

double	l_scale_

double	l_scale_z_

int	linear_x_

int	linear_y_

int	linear_z_

double	max_freq_command
	Diagnostics max freq. More...

double	max_freq_joy

double	min_freq_command
	Diagnostics min freq. More...

double	min_freq_joy

ros::NodeHandle	nh_

*	NOTE

int	num_of_buttons_
	Number of buttons of the joystick. More...

int	output_1_

int	output_2_

ros::Subscriber	pad_sub_
	It will be suscribed to the joystick. More...

int	pan_increment_
	Flag to enable/disable the communication with the publishers topics. More...

int	ptz_pan_left_

int	ptz_pan_right_

ros::Publisher	ptz_pub_

int	ptz_tilt_down_

int	ptz_tilt_up_
	buttons to the pan-tilt-zoom camera More...

diagnostic_updater::HeaderlessTopicDiagnostic *	pub_command_freq
	Diagnostic to control the frequency of the published command velocity topic. More...

ros::ServiceClient	set_digital_outputs_client_
	Enables/disables the pad. More...

ros::ServiceClient	set_elevator_client_
	Service to activate the elevator. More...

ros::ServiceClient	setKinematicMode
	Service to modify the kinematic mode. More...

int	speed_down_button_

int	speed_up_button_
	Number of the button for increase or decrease the speed max of the joystick. More...

diagnostic_updater::HeaderlessTopicDiagnostic *	sus_joy_freq
	Diagnostic to control the reception frequency of the subscribed joy topic. More...

int	tilt_increment_

diagnostic_updater::Updater	updater_pad
	General status diagnostic updater. More...

ros::Publisher	vel_pub_
	It will publish into command velocity (for the robot) and the ptz_state (for the pantilt) More...

Macro Definition Documentation

#define DEFAULT_AXIS_ANGULAR 2

Definition at line 55 of file rb1_base_pad.cpp.

#define DEFAULT_AXIS_LINEAR_X 1

Definition at line 53 of file rb1_base_pad.cpp.

#define DEFAULT_AXIS_LINEAR_Y 0

Definition at line 54 of file rb1_base_pad.cpp.

#define DEFAULT_AXIS_LINEAR_Z 3

Definition at line 56 of file rb1_base_pad.cpp.

#define DEFAULT_NUM_OF_BUTTONS 16

Definition at line 52 of file rb1_base_pad.cpp.

#define DEFAULT_SCALE_ANGULAR 2.0

Definition at line 58 of file rb1_base_pad.cpp.

#define DEFAULT_SCALE_LINEAR 1.0

Definition at line 57 of file rb1_base_pad.cpp.

#define DEFAULT_SCALE_LINEAR_Z 1.0

Definition at line 59 of file rb1_base_pad.cpp.

#define ITERATIONS_AFTER_DEADMAN 3.0

Definition at line 61 of file rb1_base_pad.cpp.

#define JOY_ERROR_TIME 1.0

Definition at line 63 of file rb1_base_pad.cpp.

Function Documentation

bool EnableDisablePad	(	rb1_base_pad::enable_disable_pad::Request &	req,
		rb1_base_pad::enable_disable_pad::Response &	res
	)

private

int main	(	int	argc,
		char **	argv
	)

private

Definition at line 365 of file rb1_base_pad.cpp.

void RB1BasePad::padCallback ( const sensor_msgs::Joy::ConstPtr & joy )

private

Definition at line 268 of file rb1_base_pad.cpp.

void RB1BasePad::Update ( )

Definition at line 249 of file rb1_base_pad.cpp.

Variable Documentation

double a_scale_

private

Definition at line 86 of file rb1_base_pad.cpp.

int angular_

private

Definition at line 85 of file rb1_base_pad.cpp.

int axis_elevator_

private

Definition at line 107 of file rb1_base_pad.cpp.

bool bOutput1

private

Definition at line 109 of file rb1_base_pad.cpp.

bool bOutput2

private

Definition at line 109 of file rb1_base_pad.cpp.

bool bRegisteredButtonEvent[DEFAULT_NUM_OF_BUTTONS]

private

Pointer to a vector for controlling the event when pushing the buttons.

Definition at line 136 of file rb1_base_pad.cpp.

int button_home_

private

button to start the homing service

Definition at line 119 of file rb1_base_pad.cpp.

int button_kinematic_mode_

private

button to change kinematic mode

Definition at line 111 of file rb1_base_pad.cpp.

int button_lower_elevator_

private

Definition at line 107 of file rb1_base_pad.cpp.

int button_output_1_

private

Definition at line 106 of file rb1_base_pad.cpp.

int button_output_2_

private

Definition at line 106 of file rb1_base_pad.cpp.

int button_raise_elevator_

private

Definition at line 107 of file rb1_base_pad.cpp.

int button_stop_elevator_

private

Definition at line 107 of file rb1_base_pad.cpp.

bool check_message_timeout_

private

If it is True, it will check the timeout message.

Definition at line 100 of file rb1_base_pad.cpp.

std::string cmd_home_

private

Name of the service to do the homing.

Definition at line 123 of file rb1_base_pad.cpp.

std::string cmd_service_io_

private

Name of the service where it will be modifying the digital outputs.

Definition at line 94 of file rb1_base_pad.cpp.

std::string cmd_set_mode_

private

Name of the service to change the mode.

Definition at line 117 of file rb1_base_pad.cpp.

std::string cmd_topic_ptz_

private

Name of the topic where it will be publishing the pant-tilt values.

Definition at line 98 of file rb1_base_pad.cpp.

std::string cmd_topic_vel_

private

Name of the topic where it will be publishing the velocity.

Definition at line 92 of file rb1_base_pad.cpp.

double current_vel

private

Definition at line 101 of file rb1_base_pad.cpp.

int dead_man_button_

private

Number of the DEADMAN button.

Definition at line 103 of file rb1_base_pad.cpp.

ros::ServiceClient doHome

private

Service to start homing.

Definition at line 121 of file rb1_base_pad.cpp.

std::string elevator_service_name_

private

Name of the service where to actuate the elevator.

Definition at line 96 of file rb1_base_pad.cpp.

int kinematic_mode_

private

kinematic mode

Definition at line 113 of file rb1_base_pad.cpp.

double l_scale_

private

Definition at line 86 of file rb1_base_pad.cpp.

double l_scale_z_

private

Definition at line 86 of file rb1_base_pad.cpp.

int linear_x_

private

Definition at line 85 of file rb1_base_pad.cpp.

int linear_y_

private

Definition at line 85 of file rb1_base_pad.cpp.

int linear_z_

private

Definition at line 85 of file rb1_base_pad.cpp.

double max_freq_command

private

Diagnostics max freq.

Definition at line 147 of file rb1_base_pad.cpp.

double max_freq_joy

private

Definition at line 147 of file rb1_base_pad.cpp.

double min_freq_command

private

Diagnostics min freq.

Definition at line 145 of file rb1_base_pad.cpp.

double min_freq_joy

private

Definition at line 145 of file rb1_base_pad.cpp.

ros::NodeHandle nh_

private

Definition at line 83 of file rb1_base_pad.cpp.

* NOTE

Definition at line 76 of file rb1_base_pad.cpp.

int num_of_buttons_

private

Number of buttons of the joystick.

Definition at line 134 of file rb1_base_pad.cpp.

int output_1_

private

Definition at line 108 of file rb1_base_pad.cpp.

int output_2_

private

Definition at line 108 of file rb1_base_pad.cpp.

ros::Subscriber pad_sub_

private

It will be suscribed to the joystick.

Definition at line 90 of file rb1_base_pad.cpp.

int pan_increment_

private

Flag to enable/disable the communication with the publishers topics.

Client of the sound play service Pan & tilt increment (degrees)

Definition at line 153 of file rb1_base_pad.cpp.

int ptz_pan_left_

private

Definition at line 125 of file rb1_base_pad.cpp.

int ptz_pan_right_

private

Definition at line 125 of file rb1_base_pad.cpp.

ros::Publisher ptz_pub_

private

Definition at line 88 of file rb1_base_pad.cpp.

int ptz_tilt_down_

private

Definition at line 125 of file rb1_base_pad.cpp.

int ptz_tilt_up_

private

buttons to the pan-tilt-zoom camera

Definition at line 125 of file rb1_base_pad.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* pub_command_freq

private

Diagnostic to control the frequency of the published command velocity topic.

Definition at line 139 of file rb1_base_pad.cpp.

ros::ServiceClient set_digital_outputs_client_

private

Enables/disables the pad.

Service to modify the digital outputs

Definition at line 130 of file rb1_base_pad.cpp.

ros::ServiceClient set_elevator_client_

private

Service to activate the elevator.

Definition at line 132 of file rb1_base_pad.cpp.

ros::ServiceClient setKinematicMode

private

Service to modify the kinematic mode.

Definition at line 115 of file rb1_base_pad.cpp.

int speed_down_button_

private

Definition at line 105 of file rb1_base_pad.cpp.

int speed_up_button_

private

Number of the button for increase or decrease the speed max of the joystick.

Definition at line 105 of file rb1_base_pad.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* sus_joy_freq

private

Diagnostic to control the reception frequency of the subscribed joy topic.

Definition at line 141 of file rb1_base_pad.cpp.

int tilt_increment_

private

Definition at line 153 of file rb1_base_pad.cpp.

diagnostic_updater::Updater updater_pad

private

General status diagnostic updater.

Definition at line 143 of file rb1_base_pad.cpp.

ros::Publisher vel_pub_

private

It will publish into command velocity (for the robot) and the ptz_state (for the pantilt)

Definition at line 88 of file rb1_base_pad.cpp.

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation