SummitXLPad Class Reference

Public Member Functions
	SummitXLPad ()
void	Update ()

Private Member Functions
void	padCallback (const sensor_msgs::Joy::ConstPtr &joy)
int	setBumperOverride (bool value)
int	setManualRelease (bool value)

Private Attributes
double	a_scale_
int	angular_
bool	bEnable
	Flag to enable/disable the communication with the publishers topics. More...
bool	bOutput1
bool	bOutput2
bool	bRegisteredButtonEvent [DEFAULT_NUM_OF_BUTTONS]
	Pointer to a vector for controlling the event when pushing the buttons. More...
bool	bRegisteredDirectionalArrows [4]
	Pointer to a vector for controlling the event when pushing directional arrows (UNDER AXES ON PX4!) More...
int	bumper_override_button_
int	bumper_override_false_number_
int	bumper_override_true_number_
int	button_home_
	button to start the homing service More...
int	button_kinematic_mode_
	button to change kinematic mode More...
int	button_output_1_
int	button_output_2_
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	joystick_dead_zone_
	Add a dead zone to the joystick that controls scissor and robot rotation (only useful for xWam) More...
int	kinematic_mode_
	kinematic mode More...
double	l_scale_
double	l_scale_z_
bool	last_command_
	Flag to track the first reading without the deadman's button pressed. More...
int	linear_x_
int	linear_y_
int	linear_z_
int	manual_release_false_number_
int	manual_release_true_number_
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_
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...
std::string	pad_type_
	Pad type. More...
double	pan_increment_
	Client of the sound play service. More...
ros::NodeHandle	pnh_
bool	ptz_control_by_axes_
	Flag to enable the ptz control via axes. 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...
int	ptz_zoom_tele_
int	ptz_zoom_wide_
diagnostic_updater::HeaderlessTopicDiagnostic *	pub_command_freq
	Diagnostic to control the frequency of the published command velocity topic. More...
ros::ServiceClient	set_bumper_override_client_
ros::ServiceClient	set_digital_outputs_client_
	Service to modify the digital outputs. More...
ros::ServiceClient	set_manual_release_client_
	Service to safety module. 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...
double	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...
int	zoom_increment_
	Zoom increment (steps) More...

Detailed Description

Definition at line 75 of file summit_xl_pad.cpp.

Constructor & Destructor Documentation

SummitXLPad::SummitXLPad

(

)

Definition at line 167 of file summit_xl_pad.cpp.

Member Function Documentation

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

private

Definition at line 299 of file summit_xl_pad.cpp.

int SummitXLPad::setBumperOverride ( bool  value )

private

Definition at line 682 of file summit_xl_pad.cpp.

int SummitXLPad::setManualRelease ( bool  value )

private

Definition at line 673 of file summit_xl_pad.cpp.

void SummitXLPad::Update

(

)

Definition at line 293 of file summit_xl_pad.cpp.

Member Data Documentation

double SummitXLPad::a_scale_

private

Definition at line 90 of file summit_xl_pad.cpp.

int SummitXLPad::angular_

private

Definition at line 89 of file summit_xl_pad.cpp.

bool SummitXLPad::bEnable

private

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

Definition at line 151 of file summit_xl_pad.cpp.

bool SummitXLPad::bOutput1

private

Definition at line 110 of file summit_xl_pad.cpp.

bool SummitXLPad::bOutput2

private

Definition at line 110 of file summit_xl_pad.cpp.

bool SummitXLPad::bRegisteredButtonEvent[DEFAULT_NUM_OF_BUTTONS]

private

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

Definition at line 135 of file summit_xl_pad.cpp.

bool SummitXLPad::bRegisteredDirectionalArrows[4]

private

Pointer to a vector for controlling the event when pushing directional arrows (UNDER AXES ON PX4!)

Definition at line 137 of file summit_xl_pad.cpp.

int SummitXLPad::bumper_override_button_

private

Definition at line 105 of file summit_xl_pad.cpp.

int SummitXLPad::bumper_override_false_number_

private

Definition at line 88 of file summit_xl_pad.cpp.

int SummitXLPad::bumper_override_true_number_

private

Definition at line 88 of file summit_xl_pad.cpp.

int SummitXLPad::button_home_

private

button to start the homing service

Definition at line 120 of file summit_xl_pad.cpp.

int SummitXLPad::button_kinematic_mode_

private

button to change kinematic mode

Definition at line 112 of file summit_xl_pad.cpp.

int SummitXLPad::button_output_1_

private

Definition at line 108 of file summit_xl_pad.cpp.

int SummitXLPad::button_output_2_

private

Definition at line 108 of file summit_xl_pad.cpp.

std::string SummitXLPad::cmd_home_

private

Name of the service to do the homing.

Definition at line 124 of file summit_xl_pad.cpp.

std::string SummitXLPad::cmd_service_io_

private

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

Definition at line 98 of file summit_xl_pad.cpp.

std::string SummitXLPad::cmd_set_mode_

private

Name of the service to change the mode.

Definition at line 118 of file summit_xl_pad.cpp.

std::string SummitXLPad::cmd_topic_ptz_

private

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

Definition at line 100 of file summit_xl_pad.cpp.

std::string SummitXLPad::cmd_topic_vel_

private

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

Definition at line 96 of file summit_xl_pad.cpp.

double SummitXLPad::current_vel

private

Definition at line 101 of file summit_xl_pad.cpp.

int SummitXLPad::dead_man_button_

private

Number of the DEADMAN button.

Definition at line 105 of file summit_xl_pad.cpp.

ros::ServiceClient SummitXLPad::doHome

private

Service to start homing.

Definition at line 122 of file summit_xl_pad.cpp.

std::string SummitXLPad::joystick_dead_zone_

private

Add a dead zone to the joystick that controls scissor and robot rotation (only useful for xWam)

Definition at line 161 of file summit_xl_pad.cpp.

int SummitXLPad::kinematic_mode_

private

kinematic mode

Definition at line 114 of file summit_xl_pad.cpp.

double SummitXLPad::l_scale_

private

Definition at line 90 of file summit_xl_pad.cpp.

double SummitXLPad::l_scale_z_

private

Definition at line 90 of file summit_xl_pad.cpp.

bool SummitXLPad::last_command_

private

Flag to track the first reading without the deadman's button pressed.

Definition at line 153 of file summit_xl_pad.cpp.

int SummitXLPad::linear_x_

private

Definition at line 89 of file summit_xl_pad.cpp.

int SummitXLPad::linear_y_

private

Definition at line 89 of file summit_xl_pad.cpp.

int SummitXLPad::linear_z_

private

Definition at line 89 of file summit_xl_pad.cpp.

int SummitXLPad::manual_release_false_number_

private

Definition at line 88 of file summit_xl_pad.cpp.

int SummitXLPad::manual_release_true_number_

private

Definition at line 88 of file summit_xl_pad.cpp.

double SummitXLPad::max_freq_command

private

Diagnostics max freq.

Definition at line 149 of file summit_xl_pad.cpp.

double SummitXLPad::max_freq_joy

private

Definition at line 149 of file summit_xl_pad.cpp.

double SummitXLPad::min_freq_command

private

Diagnostics min freq.

Definition at line 147 of file summit_xl_pad.cpp.

double SummitXLPad::min_freq_joy

private

Definition at line 147 of file summit_xl_pad.cpp.

ros::NodeHandle SummitXLPad::nh_

private

Definition at line 85 of file summit_xl_pad.cpp.

int SummitXLPad::num_of_buttons_

private

Number of buttons of the joystick.

Definition at line 133 of file summit_xl_pad.cpp.

int SummitXLPad::output_1_

private

Definition at line 109 of file summit_xl_pad.cpp.

int SummitXLPad::output_2_

private

Definition at line 109 of file summit_xl_pad.cpp.

ros::Subscriber SummitXLPad::pad_sub_

private

It will be suscribed to the joystick.

Definition at line 94 of file summit_xl_pad.cpp.

std::string SummitXLPad::pad_type_

private

Pad type.

Definition at line 103 of file summit_xl_pad.cpp.

double SummitXLPad::pan_increment_

private

Client of the sound play service.

Pan & tilt increment (degrees)

Definition at line 157 of file summit_xl_pad.cpp.

ros::NodeHandle SummitXLPad::pnh_

private

Definition at line 86 of file summit_xl_pad.cpp.

bool SummitXLPad::ptz_control_by_axes_

private

Flag to enable the ptz control via axes.

Definition at line 163 of file summit_xl_pad.cpp.

int SummitXLPad::ptz_pan_left_

private

Definition at line 126 of file summit_xl_pad.cpp.

int SummitXLPad::ptz_pan_right_

private

Definition at line 126 of file summit_xl_pad.cpp.

ros::Publisher SummitXLPad::ptz_pub_

private

Definition at line 92 of file summit_xl_pad.cpp.

int SummitXLPad::ptz_tilt_down_

private

Definition at line 126 of file summit_xl_pad.cpp.

int SummitXLPad::ptz_tilt_up_

private

buttons to the pan-tilt-zoom camera

Definition at line 126 of file summit_xl_pad.cpp.

int SummitXLPad::ptz_zoom_tele_

private

Definition at line 127 of file summit_xl_pad.cpp.

int SummitXLPad::ptz_zoom_wide_

private

Definition at line 127 of file summit_xl_pad.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* SummitXLPad::pub_command_freq

private

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

Definition at line 141 of file summit_xl_pad.cpp.

ros::ServiceClient SummitXLPad::set_bumper_override_client_

private

Definition at line 131 of file summit_xl_pad.cpp.

ros::ServiceClient SummitXLPad::set_digital_outputs_client_

private

Service to modify the digital outputs.

Definition at line 129 of file summit_xl_pad.cpp.

ros::ServiceClient SummitXLPad::set_manual_release_client_

private

Service to safety module.

Definition at line 131 of file summit_xl_pad.cpp.

ros::ServiceClient SummitXLPad::setKinematicMode

private

Service to modify the kinematic mode.

Definition at line 116 of file summit_xl_pad.cpp.

int SummitXLPad::speed_down_button_

private

Definition at line 107 of file summit_xl_pad.cpp.

int SummitXLPad::speed_up_button_

private

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

Definition at line 107 of file summit_xl_pad.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* SummitXLPad::sus_joy_freq

private

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

Definition at line 143 of file summit_xl_pad.cpp.

double SummitXLPad::tilt_increment_

private

Definition at line 157 of file summit_xl_pad.cpp.

diagnostic_updater::Updater SummitXLPad::updater_pad

private

General status diagnostic updater.

Definition at line 145 of file summit_xl_pad.cpp.

ros::Publisher SummitXLPad::vel_pub_

private

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

Definition at line 92 of file summit_xl_pad.cpp.

int SummitXLPad::zoom_increment_

private

Zoom increment (steps)

Definition at line 159 of file summit_xl_pad.cpp.

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

• summit_xl_pad.cpp