remote_control.h
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34 
35 /* Author: Dave Coleman <dave@picknik.ai>
36  Desc: Tool for creating break points and user verification points through
37  manipulation pipelines or other live robotitc tool.
38  Think GDB for robots, or like, a state machine.
39 */
40 
41 #ifndef RVIZ_VISUAL_TOOLS_REMOTE_CONTROL_H
42 #define RVIZ_VISUAL_TOOLS_REMOTE_CONTROL_H
43 
44 // C++
45 #include <string>
46 
47 // ROS
48 #include <ros/ros.h>
49 #include <sensor_msgs/Joy.h>
50 
51 namespace rviz_visual_tools
52 {
53 typedef std::function<void(bool)> DisplayWaitingState;
54 
56 {
57 public:
61  explicit RemoteControl(const ros::NodeHandle& nh);
62 
66  void rvizDashboardCallback(const sensor_msgs::Joy::ConstPtr& msg);
67 
72  bool setReadyForNextStep();
73 
77  void setAutonomous(bool autonomous = true);
78  void setFullAutonomous(bool autonomous = true);
79 
84  bool getAutonomous();
85  bool getFullAutonomous();
86 
90  void setStop(bool stop = true);
91 
95  bool getStop();
96 
101  bool waitForNextStep(const std::string& caption = "go to next step");
102  bool waitForNextFullStep(const std::string& caption = "go to next full step");
103 
105  bool isWaiting()
106  {
107  return is_waiting_;
108  }
109 
110  void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
111  {
112  displayWaitingState_ = displayWaitingState;
113  }
114 
115 private:
116  // A shared node handle
118 
119  // Short name for this class
120  std::string name_ = "remote_control";
121 
122  // Input
124 
125  // Debug interface
126  bool is_waiting_ = false;
127  bool next_step_ready_ = false;
128  bool autonomous_ = false;
129  bool full_autonomous_ = false;
130  bool stop_ = false;
131 
132  // Callback to visualize waiting state
133  DisplayWaitingState displayWaitingState_;
134 }; // end class
135 
136 typedef std::shared_ptr<RemoteControl> RemoteControlPtr;
137 typedef std::shared_ptr<const RemoteControl> RemoteControlConstPtr;
138 
139 } // namespace rviz_visual_tools
140 
141 #endif // RVIZ_VISUAL_TOOLS_REMOTE_CONTROL_H
void setAutonomous(bool autonomous=true)
Enable autonomous mode.
bool getStop()
See if we are in stop mode.
bool setReadyForNextStep()
Step to next step.
std::shared_ptr< RemoteControl > RemoteControlPtr
void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
bool waitForNextFullStep(const std::string &caption="go to next full step")
void rvizDashboardCallback(const sensor_msgs::Joy::ConstPtr &msg)
Callback from ROS topic.
void setStop(bool stop=true)
Stop something in pipeline.
DisplayWaitingState displayWaitingState_
RemoteControl(const ros::NodeHandle &nh)
Constructor.
bool getAutonomous()
Get the autonomous mode.
bool waitForNextStep(const std::string &caption="go to next step")
Wait until user presses a button.
std::shared_ptr< const RemoteControl > RemoteControlConstPtr
void setFullAutonomous(bool autonomous=true)
bool isWaiting()
Return true if debug interface is waiting for user input.
std::function< void(bool)> DisplayWaitingState


rviz_visual_tools
Author(s): Dave Coleman
autogenerated on Mon Feb 28 2022 23:43:06