rsm::RobotControlMux Class Reference

Handles all command velocities and only allows the robot to move at all if no emergency stop is set and only move autonomous if autonomous operation is active. More...

#include <RobotControlMux.h>

Public Member Functions
void	publishTopics ()
	RobotControlMux ()
	~RobotControlMux ()

Private Member Functions
void	autonomyCmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_vel)
bool	checkJoystickCommand (const sensor_msgs::Joy::ConstPtr &joy)
void	joystickCallback (const sensor_msgs::Joy::ConstPtr &joy)
void	publishCmdVel ()
void	publishOperationMode ()
bool	setOperationMode (rsm_msgs::SetOperationMode::Request &req, rsm_msgs::SetOperationMode::Response &res)
void	teleoperationCmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_vel)
void	teleoperationIdleTimerCallback (const ros::TimerEvent &event)

Private Attributes
geometry_msgs::Twist	_autonomy_cmd_vel
ros::Subscriber	_autonomy_cmd_vel_sub
std::string	_autonomy_operation_cmd_vel_topic
ros::Publisher	_cmd_vel_pub
std::string	_cmd_vel_topic
bool	_emergency_stop_active
sensor_msgs::Joy	_joystick_cmd
ros::Subscriber	_joystick_sub
std::string	_joystick_topic
bool	_joystick_used
ros::NodeHandle	_nh
int	_operation_mode
ros::Publisher	_operation_mode_pub
ros::ServiceServer	_set_operation_mode_service
geometry_msgs::Twist	_teleoperation_cmd_vel
ros::Subscriber	_teleoperation_cmd_vel_sub
std::string	_teleoperation_cmd_vel_topic
ros::Timer	_teleoperation_idle_timer
double	_teleoperation_idle_timer_duration

Detailed Description

Handles all command velocities and only allows the robot to move at all if no emergency stop is set and only move autonomous if autonomous operation is active.

Definition at line 23 of file RobotControlMux.h.

Constructor & Destructor Documentation

rsm::RobotControlMux::RobotControlMux

(

)

Constructor

Definition at line 5 of file RobotControlMux.cpp.

rsm::RobotControlMux::~RobotControlMux

(

)

Destructor

Definition at line 41 of file RobotControlMux.cpp.

Member Function Documentation

void rsm::RobotControlMux::autonomyCmdVelCallback ( const geometry_msgs::Twist::ConstPtr &  cmd_vel )

private

Callback for receiving the cmd vel produced by autonomous operation

Parameters

cmd_vel

Cmd vel from autonomous operation

Definition at line 78 of file RobotControlMux.cpp.

bool rsm::RobotControlMux::checkJoystickCommand ( const sensor_msgs::Joy::ConstPtr &  joy )

private

Checks if the given joystick command will make the robot move and is different to the previous one

Parameters

joy	Joystick commands

Returns

If the new command will lead to a robot action

Definition at line 122 of file RobotControlMux.cpp.

void rsm::RobotControlMux::joystickCallback ( const sensor_msgs::Joy::ConstPtr &  joy )

private

Callback for receiving the commands issued from a connected joystick and checks if a new command was sent

Parameters

joy	Joystick commands

Definition at line 102 of file RobotControlMux.cpp.

void rsm::RobotControlMux::publishCmdVel ( )

private

Publish the cmd vel controlling the robot depending on the current operation mode

Definition at line 50 of file RobotControlMux.cpp.

void rsm::RobotControlMux::publishOperationMode ( )

private

Publish current operation mode

Definition at line 62 of file RobotControlMux.cpp.

void rsm::RobotControlMux::publishTopics

(

)

Publishes msgs from all publishers in this class (cmd vel and operation mode)

Definition at line 45 of file RobotControlMux.cpp.

bool rsm::RobotControlMux::setOperationMode ( rsm_msgs::SetOperationMode::Request &  req, rsm_msgs::SetOperationMode::Response &  res  )

private

Definition at line 69 of file RobotControlMux.cpp.

void rsm::RobotControlMux::teleoperationCmdVelCallback ( const geometry_msgs::Twist::ConstPtr &  cmd_vel )

private

Callback for receiving the cmd vel from teleoperation and checks if a command not equals zero was issued

Parameters

cmd_vel

Cmd vel from teleoperation

Definition at line 83 of file RobotControlMux.cpp.

void rsm::RobotControlMux::teleoperationIdleTimerCallback ( const ros::TimerEvent &  event )

private

Timer callback for checking if teleoperation was stopped and robot is idle again

Parameters

event

Definition at line 114 of file RobotControlMux.cpp.

Member Data Documentation

geometry_msgs::Twist rsm::RobotControlMux::_autonomy_cmd_vel

private

Last received command velocity from autonomy

Definition at line 72 of file RobotControlMux.h.

ros::Subscriber rsm::RobotControlMux::_autonomy_cmd_vel_sub

private

Definition at line 42 of file RobotControlMux.h.

std::string rsm::RobotControlMux::_autonomy_operation_cmd_vel_topic

private

Definition at line 49 of file RobotControlMux.h.

ros::Publisher rsm::RobotControlMux::_cmd_vel_pub

private

Definition at line 44 of file RobotControlMux.h.

std::string rsm::RobotControlMux::_cmd_vel_topic

private

Definition at line 50 of file RobotControlMux.h.

bool rsm::RobotControlMux::_emergency_stop_active

private

Is emergency stop currently activated

Definition at line 64 of file RobotControlMux.h.

sensor_msgs::Joy rsm::RobotControlMux::_joystick_cmd

private

Last received joystick command

Definition at line 80 of file RobotControlMux.h.

ros::Subscriber rsm::RobotControlMux::_joystick_sub

private

Definition at line 43 of file RobotControlMux.h.

std::string rsm::RobotControlMux::_joystick_topic

private

Definition at line 51 of file RobotControlMux.h.

bool rsm::RobotControlMux::_joystick_used

private

Is a joystick in use for controlling the robot

Definition at line 68 of file RobotControlMux.h.

ros::NodeHandle rsm::RobotControlMux::_nh

private

Definition at line 39 of file RobotControlMux.h.

int rsm::RobotControlMux::_operation_mode

private

Currently active mode of operation (0=stopped, 1=autonomous, 2=teleoperation)

Definition at line 60 of file RobotControlMux.h.

ros::Publisher rsm::RobotControlMux::_operation_mode_pub

private

Definition at line 45 of file RobotControlMux.h.

ros::ServiceServer rsm::RobotControlMux::_set_operation_mode_service

private

Definition at line 40 of file RobotControlMux.h.

geometry_msgs::Twist rsm::RobotControlMux::_teleoperation_cmd_vel

private

Last received command velocity from teleoperation

Definition at line 76 of file RobotControlMux.h.

ros::Subscriber rsm::RobotControlMux::_teleoperation_cmd_vel_sub

private

Definition at line 41 of file RobotControlMux.h.

std::string rsm::RobotControlMux::_teleoperation_cmd_vel_topic

private

Definition at line 48 of file RobotControlMux.h.

ros::Timer rsm::RobotControlMux::_teleoperation_idle_timer

private

Definition at line 46 of file RobotControlMux.h.

double rsm::RobotControlMux::_teleoperation_idle_timer_duration

private

Time until teleoperation mode will be stopped when no new message is received

Definition at line 56 of file RobotControlMux.h.

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The documentation for this class was generated from the following files:

• RobotControlMux.h
• RobotControlMux.cpp