remote_reciever.h

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/* Author: Dave Coleman
   Desc:   Object for wrapping remote control functionality
*/

#ifndef RVIZ_VISUAL_TOOLS_REMOTE_RECIEVER_H
#define RVIZ_VISUAL_TOOLS_REMOTE_RECIEVER_H

#include <sensor_msgs/Joy.h>
#include <ros/ros.h>

namespace rviz_visual_tools
{
class RemoteReciever
{
public:
  RemoteReciever()
  {
    joy_publisher_ = nh_.advertise<sensor_msgs::Joy>("/rviz_visual_tools_gui", 1);
  }

  void publishNext()
  {
    ROS_DEBUG_STREAM_NAMED("gui", "Next");
    sensor_msgs::Joy msg;
    msg.buttons.resize(9);
    msg.buttons[1] = 1;
    joy_publisher_.publish(msg);
  }

  void publishContinue()
  {
    ROS_DEBUG_STREAM_NAMED("gui", "Continue");
    sensor_msgs::Joy msg;
    msg.buttons.resize(9);
    msg.buttons[2] = 1;
    joy_publisher_.publish(msg);
  }

  void publishBreak()
  {
    ROS_DEBUG_STREAM_NAMED("gui", "Break (not implemented yet)");

    sensor_msgs::Joy msg;
    msg.buttons.resize(9);
    msg.buttons[3] = 1;
    joy_publisher_.publish(msg);
  }

  void publishStop()
  {
    ROS_DEBUG_STREAM_NAMED("gui", "Stop (not implemented yet)");

    sensor_msgs::Joy msg;
    msg.buttons.resize(9);
    msg.buttons[4] = 1;
    joy_publisher_.publish(msg);
  }

protected:
  // The ROS publishers
  ros::Publisher joy_publisher_;

  // The ROS node handle.
  ros::NodeHandle nh_;
};

}  // end namespace rviz_visual_tools

#endif  // RVIZ_VISUAL_TOOLS_REMOTE_RECIEVER_H