cob_teleop.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#include <ros/ros.h>
 
#include <actionlib/client/simple_action_client.h>
#include <cob_light/LightModes.h>
#include <cob_light/SetLightModeAction.h>
#include <cob_script_server/ScriptAction.h>
#include <cob_sound/SayAction.h>
#include <cob_actions/SetStringAction.h>
#include <cob_actions/SetStringGoal.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/JointState.h>
#include <sensor_msgs/Joy.h>
#include <sensor_msgs/JoyFeedbackArray.h>
#include <std_msgs/Float64MultiArray.h>
#include <std_msgs/ColorRGBA.h>
#include <std_srvs/Trigger.h>
#include <XmlRpcValue.h>
 
class CobTeleop
{
public:
 
  struct component_config
  {
    std::string key;
    std::string twist_topic_name;
    std::string twist_safety_topic_name;
    std::string vel_group_topic_name;
    std::string sss_default_target;
    std::vector<double> joint_velocity;
    std::vector<double> twist_max_vel; //max_vx_, max_vy_, max_vz_, max_rotx_, max_roty_, max_rotz_
    std::vector<double> twist_max_acc; //max_ax_, max_ay_, max_arotz_
    ros::Publisher vel_group_controller_publisher_;
    ros::Publisher twist_controller_publisher_;
    ros::Publisher twist_safety_controller_publisher_;
  };
 
  std::map<std::string,component_config> component_config_;
 
  //axis
  int axis_vx_, axis_vy_, axis_vz_, axis_roll_, axis_pitch_, axis_yaw_, axis_run_;
  bool axis_run_updated_;
 
  //buttons
  //mode 1: Base
  int run_button_;
  int dock_button_;
  int undock_button_;
  //mode 2: Trajectory controller (to default target position using sss.move)
  //mode 3: Velocity group controller
  int right_indicator_button_;
  int left_indicator_button_;
  int up_down_button_;
  int right_left_button_;
  //mode 4: Twist controller
 
  //common
  int deadman_button_;
  int safety_button_;
  int init_button_;
  bool joy_active_;
  bool safe_mode_;
  double publish_freq_;
  double run_factor_, run_factor_param_;
  int joy_num_modes_;
  int mode_switch_button_;
  int mode_;
  std::string joy_config_switch_;
  XmlRpc::XmlRpcValue LEDS_;
  XmlRpc::XmlRpcValue led_mode_;
 
  XmlRpc::XmlRpcValue components_;
  ros::NodeHandle n_;
  ros::Subscriber joy_sub_;  //subscribe topic joy
  ros::Subscriber joint_states_sub_;  //subscribe topic joint_states
 
  typedef actionlib::SimpleActionClient<cob_script_server::ScriptAction> ScriptClient_;
  ScriptClient_ * sss_client_;
  cob_script_server::ScriptGoal script_goal_;
 
  typedef actionlib::SimpleActionClient<cob_sound::SayAction> SayClient_;
  SayClient_ * say_client_;
  bool enable_sound_;
  std::string sound_action_name_;
 
  typedef actionlib::SimpleActionClient<cob_light::SetLightModeAction> SetLightClient_;
  SetLightClient_ * setlight_client_;
  bool enable_light_;
  std::string light_action_name_;
 
  typedef actionlib::SimpleActionClient<cob_actions::SetStringAction> DockClient_;
  DockClient_ * dock_client_;
  std::string dock_action_name_;
 
  typedef actionlib::SimpleActionClient<cob_actions::SetStringAction> UndockClient_;
  UndockClient_ * undock_client_;
  std::string undock_action_name_;
 
  cob_light::SetLightModeGoal confirm_light_goal_;
  cob_light::SetLightModeGoal error_light_goal_;
 
  std::vector<double> vel_old_;
  std::vector<double> vel_req_;
  std::vector<double> vel_base_;
  bool apply_ramp_;
 
  void getConfigurationFromParameters();
  void init();
  void updateBase();
  void say(std::string text, bool blocking);
  void setLight(int mode);
  void joy_cb(const sensor_msgs::Joy::ConstPtr &joy_msg);
  sensor_msgs::JoyFeedbackArray switch_mode();
};
 
void CobTeleop::getConfigurationFromParameters()
{
  if(n_.hasParam("components"))
  {
    ROS_DEBUG("components found ");
    n_.getParam("components", components_);
    if(components_.getType() == XmlRpc::XmlRpcValue::TypeStruct)
    {
      ROS_DEBUG("components are of type struct with size %d",(int)components_.size());
      for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=components_.begin();p!=components_.end();++p)
      {
        std::string comp_name = p->first;
        ROS_DEBUG("component name: %s",comp_name.c_str());
        XmlRpc::XmlRpcValue comp_struc = p->second;
        if(comp_struc.getType() != XmlRpc::XmlRpcValue::TypeStruct)
        {
          ROS_WARN("invalid component, name: %s",comp_name.c_str());
        }
        component_config tempComponent;
        for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator ps=comp_struc.begin();ps!=comp_struc.end();++ps)
        {
          std::string par_name = ps->first;
          ROS_DEBUG("par name: %s",par_name.c_str());
          if(par_name.compare("twist_topic_name")==0)
          {
            ROS_DEBUG("twist topic name found");
            XmlRpc::XmlRpcValue twist_topic_name = ps->second;
            ROS_ASSERT(twist_topic_name.getType() == XmlRpc::XmlRpcValue::TypeString);
            std::string s((std::string)twist_topic_name);
            ROS_DEBUG("twist_topic_name found = %s",s.c_str());
            tempComponent.twist_topic_name = s;
            tempComponent.twist_controller_publisher_ = n_.advertise<geometry_msgs::Twist>((s),1);
          }
          if(par_name.compare("twist_safety_topic_name")==0)
          {
            ROS_DEBUG("twist saftey topic name found");
            XmlRpc::XmlRpcValue twist_safety_topic_name= ps->second;
            ROS_ASSERT(twist_safety_topic_name.getType() == XmlRpc::XmlRpcValue::TypeString);
            std::string s((std::string)twist_safety_topic_name);
            ROS_DEBUG("twist_safety_topic_name found = %s",s.c_str());
            tempComponent.twist_safety_topic_name = s;
            tempComponent.twist_safety_controller_publisher_ = n_.advertise<geometry_msgs::Twist>((s),1);
          }
          else if(par_name.compare("velocity_topic_name")==0)
          {
            ROS_DEBUG("topic name found");
            XmlRpc::XmlRpcValue vel_group_topic_name = ps->second;
            ROS_ASSERT(vel_group_topic_name.getType() == XmlRpc::XmlRpcValue::TypeString);
            std::string s((std::string)vel_group_topic_name);
            ROS_DEBUG("topic_name found = %s",s.c_str());
            tempComponent.vel_group_topic_name = s;
            tempComponent.vel_group_controller_publisher_ = n_.advertise<std_msgs::Float64MultiArray>((s),1);
          }
          else if(par_name.compare("sss_default_target")==0)
          {
            ROS_DEBUG("default target position found");
            XmlRpc::XmlRpcValue sss_default_target = ps->second;
            ROS_ASSERT(sss_default_target.getType() == XmlRpc::XmlRpcValue::TypeString);
            std::string s((std::string)sss_default_target);
            ROS_DEBUG("sss_default_target found = %s",s.c_str());
            tempComponent.sss_default_target = s;
          }
          else if(par_name.compare("joint_velocity")==0)
          {
            ROS_DEBUG("joint vels found");
            XmlRpc::XmlRpcValue joint_velocity = ps->second;
            ROS_ASSERT(joint_velocity.getType() == XmlRpc::XmlRpcValue::TypeArray);
            ROS_DEBUG("joint_velocity.size: %d \n", joint_velocity.size());
            for(int i=0;i<joint_velocity.size();i++)
            {
              ROS_ASSERT(joint_velocity[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
              double vel((double)joint_velocity[i]);
              ROS_DEBUG("joint_velocity found = %f",vel);
              tempComponent.joint_velocity.push_back(vel);
            }
          }
          else if(par_name.compare("twist_max_velocity")==0)
          {
            ROS_DEBUG("max Velocity found");
            XmlRpc::XmlRpcValue twist_max_velocity = ps->second;
            ROS_ASSERT(twist_max_velocity.getType() == XmlRpc::XmlRpcValue::TypeArray);
            ROS_DEBUG("twist_max_velocity.size: %d \n", twist_max_velocity.size());
            for(int i=0;i<twist_max_velocity.size();i++)
            {
              ROS_ASSERT(twist_max_velocity[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
              double vel((double)twist_max_velocity[i]);
              ROS_DEBUG("twist_max_velocity found = %f",vel);
              tempComponent.twist_max_vel.push_back(vel);
            }
          }
          else if(par_name.compare("twist_max_acc")==0)
          {
            ROS_DEBUG("max Velocity found");
            XmlRpc::XmlRpcValue twist_max_acc = ps->second;
            ROS_ASSERT(twist_max_acc.getType() == XmlRpc::XmlRpcValue::TypeArray);
            ROS_DEBUG("twist_max_acc.size: %d \n", twist_max_acc.size());
            for(int i=0;i<twist_max_acc.size();i++)
            {
              ROS_ASSERT(twist_max_acc[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
              double vel((double)twist_max_acc[i]);
              ROS_DEBUG("twist_max_acc found = %f",vel);
              tempComponent.twist_max_acc.push_back(vel);
            }
          }
        }
        ROS_DEBUG("%s module stored",comp_name.c_str());
        component_config_.insert(std::pair<std::string,component_config>(comp_name,tempComponent));
      }
    }
  }
 
  sss_client_ = new ScriptClient_("/script_server", true);
  n_.param<bool>("enable_sound", enable_sound_, false);
  n_.param<std::string>("sound_action_name", sound_action_name_, "/sound/say");
  say_client_ = new SayClient_(sound_action_name_, true);
 
  n_.param<bool>("enable_light", enable_light_, false);
  n_.param<std::string>("light_action_name", light_action_name_, "set_light");
  setlight_client_ = new SetLightClient_(light_action_name_, true);
 
  n_.param<std::string>("dock_action_name", dock_action_name_, "/docker_control/dock");
  dock_client_ = new DockClient_(dock_action_name_, true);
  n_.param<std::string>("undock_action_name", undock_action_name_, "/docker_control/undock");
  undock_client_ = new UndockClient_(undock_action_name_, true);
 
  vel_req_.resize(component_config_["base"].twist_max_acc.size());
  vel_old_.resize(component_config_["base"].twist_max_acc.size());
  vel_base_.resize(component_config_["base"].twist_max_acc.size());
  for(unsigned int i=0; i<component_config_["base"].twist_max_acc.size(); i++)
  {
    vel_old_[i]=0;
    vel_req_[i]=0;
  }
}
 
sensor_msgs::JoyFeedbackArray CobTeleop::switch_mode()
{
  ++mode_;
 
  if (mode_ > joy_num_modes_)
  {
    mode_ = 1;
  }
 
  std::string saytext;
  if (mode_ == 1)
  {
    ROS_INFO("Switched to mode 1: move the base using twist controller");
    saytext = "Base mode";
  }
  if (mode_ == 2)
  {
    ROS_INFO("Switched to mode 2: move the actuators to a default position (Trajectory controller)");
    saytext = "Default position mode";
  }
  if(mode_ == 3)
  {
    ROS_INFO("Switched to mode 3: move the actuators using joint group velocity controller");
    saytext = "Velocity mode";
  }
  if(mode_ == 4)
  {
    ROS_INFO("Switched to mode 4: move the actuators in cartesian mode using twist controller");
    saytext = "Cartesian mode";
  }
 
  setLight(mode_);
  say(saytext, false);
 
  LEDS_=led_mode_[mode_];
 
  sensor_msgs::JoyFeedbackArray joy_fb;
  joy_fb.array.resize(4);
  for (unsigned int i=0; i<4; i++)
  {
      joy_fb.array[i].type=0;
      joy_fb.array[i].id=i;
      joy_fb.array[i].intensity=static_cast<int>(LEDS_[i]);
  }
  return joy_fb;
}
 
void CobTeleop::updateBase()
{
  if (joy_active_)
  {
    if(mode_==1)
    {
      double dt = 1.0/double(publish_freq_);
      geometry_msgs::Twist base_cmd;
      if(!joy_active_)
      {
        for(unsigned int i=0; i<3; i++)
        {
          vel_old_[i]=0;
          vel_req_[i]=0;
        }
      }
 
      if(apply_ramp_)
      {
        for( int i =0; i<3; i++)
        {
          // filter v with ramp
          if ((vel_req_[i]-vel_old_[i])/dt > component_config_["base"].twist_max_acc[i])
          {
            vel_base_[i] = vel_old_[i] + component_config_["base"].twist_max_acc[i]*dt;
          }
          else if((vel_req_[i]-vel_old_[i])/dt < -component_config_["base"].twist_max_acc[i])
          {
            vel_base_[i] = vel_old_[i] - component_config_["base"].twist_max_acc[i]*dt;
          }
          else
          {
            vel_base_[i] = vel_req_[i];
          }
          vel_old_[i] = vel_base_[i];
        }
      }
      else
      {
        vel_base_[0] = vel_req_[0];
        vel_base_[1] = vel_req_[1];
        vel_base_[2] = vel_req_[2];
      }
      base_cmd.linear.x = vel_base_[0];
      base_cmd.linear.y = vel_base_[1];
      base_cmd.angular.z = vel_base_[2];
      if (safe_mode_)
      {
        component_config_["base"].twist_safety_controller_publisher_.publish(base_cmd);
      }
      else
      {
        component_config_["base"].twist_controller_publisher_.publish(base_cmd);
      }
    }
  }
}
 
void CobTeleop::say(std::string text, bool blocking)
{
  if(enable_sound_)
  {
    cob_sound::SayGoal say_goal;
    say_goal.text = text;
    say_client_->sendGoal(say_goal);
    if (blocking)
    {
      say_client_->waitForResult(ros::Duration(5));
    }
  }
}
 
void CobTeleop::setLight(int mode)
{
  if(enable_light_)
  {
    cob_light::LightMode light;
    light.mode = cob_light::LightModes::FLASH;
    light.frequency = 5;
    light.priority = 2;
    std_msgs::ColorRGBA color;
    color.r = 0;
    color.g = 1;
    color.b = 0;
    color.a = 1;
    light.pulses = mode;
    light.colors.push_back(color);
    cob_light::SetLightModeGoal light_goal;
    light_goal.mode = light;
    setlight_client_->sendGoal(light_goal);
  }
}
 
void CobTeleop::joy_cb(const sensor_msgs::Joy::ConstPtr &joy_msg)
{
  if(deadman_button_>=0 && deadman_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[deadman_button_]==1)
  {
    ROS_DEBUG("joystick is active");
  }
  else
  {
    for(unsigned int i=0; i<component_config_["base"].twist_max_acc.size(); i++)
    {
      vel_req_[i]=0;
      vel_old_[i]=0;
    }
    ROS_DEBUG("joystick is not active");
    joy_active_ = false;
    return;
  }
 
  if(mode_switch_button_>=0 && mode_switch_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[mode_switch_button_]==1)
  {
    ROS_INFO("Switch mode button pressed");
    switch_mode();
  }
 
  if(safety_button_>=0 && safety_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[safety_button_]==1)
  {
    safe_mode_ = false;
  }else
  {
    safe_mode_ = true;
  }
 
  if(joy_config_switch_.compare("X") == 0 && axis_run_ < joy_msg->axes.size())
  {
    if(!axis_run_updated_)
    {
      if(joy_msg->axes[axis_run_] != 0)
        axis_run_updated_ = true;
      else
        run_factor_ = 1.0;
    }
    if(axis_run_updated_)
    {
      run_factor_ = 1 + ((run_factor_param_ - 1.0) / -2.0) * (joy_msg->axes[axis_run_] - 1.0);
    }
  }
  else if(run_button_>=0 && run_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[run_button_]>1)
  {
    run_factor_ = run_factor_param_;
  }
  else //button release
  {
    run_factor_ = 1.0;
  }
 
  if(!sss_client_->waitForServer(ros::Duration(3.0)))
  {
    ROS_INFO("Waiting for script server");
    return;
  }
 
  if(init_button_>=0 && init_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[init_button_]==1)
  {
    ROS_INFO("Init and recover");
    say("init and recover", true);
 
    for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=components_.begin();p!=components_.end();++p)
    {
      std::string comp_name = p->first;
 
      ROS_INFO("Init %s",comp_name.c_str());
      std::string saytext = comp_name;
      std::replace(saytext.begin(), saytext.end(), '_', ' ');
      say(saytext, true);
      script_goal_.component_name = comp_name.c_str();
      script_goal_.function_name="init";
      sss_client_->sendGoal(script_goal_);
      sss_client_->waitForResult();
      if(sss_client_->getResult()->error_code != 0)
      {
        std::string saytext = "Init " + comp_name + " failed";
        std::replace(saytext.begin(), saytext.end(), '_', ' ');
        say(saytext, true);
      }
 
      ROS_INFO("Recover %s",comp_name.c_str());
      script_goal_.function_name="recover";
      sss_client_->sendGoal(script_goal_);
      sss_client_->waitForResult();
      if(sss_client_->getResult()->error_code != 0)
      {
        std::string saytext = "Recover " + comp_name + " failed";
        std::replace(saytext.begin(), saytext.end(), '_', ' ');
        say(saytext, true);
 
      }
    }
 
    say("go", true);
  }
 
  //-------MODE 1
  if (mode_==1)
  {
    ROS_DEBUG("Mode 1: Move the base using twist controller");
    if(dock_button_>=0 && dock_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[dock_button_]==1)
    {
      actionlib::SimpleClientGoalState state = dock_client_->getState();
      if(state == actionlib::SimpleClientGoalState::ACTIVE ||
        state == actionlib::SimpleClientGoalState::PENDING)
      {
        ROS_DEBUG_STREAM("docking already in progress: "<<state.getText());
        setlight_client_->sendGoal(error_light_goal_);
        return;
      }
      dock_client_->sendGoal(cob_actions::SetStringGoal());
      setlight_client_->sendGoal(confirm_light_goal_);
    }
 
    if(undock_button_>=0 && undock_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[undock_button_]==1)
    {
      actionlib::SimpleClientGoalState state = undock_client_->getState();
      if(state == actionlib::SimpleClientGoalState::ACTIVE ||
        state == actionlib::SimpleClientGoalState::PENDING)
      {
        ROS_DEBUG_STREAM("undocking already in progress: "<<state.getText());
        setlight_client_->sendGoal(error_light_goal_);
        return;
      }
      undock_client_->sendGoal(cob_actions::SetStringGoal());
      setlight_client_->sendGoal(confirm_light_goal_);
    }
 
    if(axis_vx_>=0 && axis_vx_<(int)joy_msg->axes.size())
    {
      joy_active_ = true;
      vel_req_[0] = joy_msg->axes[axis_vx_]*component_config_["base"].twist_max_vel[0]*run_factor_;
    }
    else
    {
      vel_req_[0] =0.0;
    }
    if(axis_vy_>=0 && axis_vy_<(int)joy_msg->axes.size())
    {
      joy_active_ = true;
      vel_req_[1] = joy_msg->axes[axis_vy_]*component_config_["base"].twist_max_vel[1]*run_factor_;
    }
    else
    {
      vel_req_[1] = 0.0;
    }
    if(axis_yaw_>=0 && axis_yaw_<(int)joy_msg->axes.size())
    {
      joy_active_ = true;
      vel_req_[2] = joy_msg->axes[axis_yaw_]*component_config_["base"].twist_max_vel[2]*run_factor_;
    }
    else
    {
      vel_req_[2] = 0.0;
    }
  }
 
  //-------MODE 2
  if (mode_==2)
  {
    ROS_DEBUG("Mode 2: Move the actuators to a default position (Trajectory controller)");
 
    for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=components_.begin();p!=components_.end();++p)
    {
      int component_sss_default_target_button_temp = -1;
      std::string comp_name = p->first;
      std::string component_sss_default_target_button = comp_name + "_sss_default_target_button";
      n_.getParam(component_sss_default_target_button,component_sss_default_target_button_temp);
      if (component_sss_default_target_button_temp == -1)
      {
        ROS_DEBUG("%s_sss_default_target_button parameter not defined",comp_name.c_str());
      }
      if(component_sss_default_target_button_temp>=0 && component_sss_default_target_button_temp<(int)joy_msg->buttons.size() && joy_msg->buttons[component_sss_default_target_button_temp]==1)
      {
        script_goal_.component_name = comp_name;
        script_goal_.function_name = "move";
        script_goal_.parameter_name = component_config_[comp_name].sss_default_target.c_str();
        ROS_INFO("Move %s to %s",comp_name.c_str(), component_config_[comp_name].sss_default_target.c_str());
        std::string saytext = "Move " + comp_name + " to " + script_goal_.parameter_name;
        std::replace(saytext.begin(), saytext.end(), '_', ' ');
        say(saytext, true);
        sss_client_->sendGoal(script_goal_);
      }
    }
  }
 
  //-------MODE 3
  if (mode_==3)
  {
    ROS_DEBUG("Mode 3: Move the actuators using the group velocity controller");
      for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=components_.begin();p!=components_.end();++p)
      {
        int count = 0;
        int component_joint_button_temp = -1;
        std::string comp_name = p->first;
        int size = ceil((component_config_[comp_name].joint_velocity.size()+1)/2);
        for(int i=0; i < size; ++i)
        {
          std::ostringstream component_joint_button_stream;
          component_joint_button_stream << comp_name << "_joint" << i+1 << "_button";
          std::string component_joint_button = component_joint_button_stream.str();
          n_.getParam(component_joint_button,component_joint_button_temp);
          std_msgs::Float64MultiArray vel_cmd;
          count++;
          if(!(comp_name.find("left") != std::string::npos) && !(comp_name.find("right") != std::string::npos))
          {
            if(component_joint_button_temp>=0 && component_joint_button_temp<(int)joy_msg->buttons.size() && joy_msg->buttons[component_joint_button_temp]==1 && joy_msg->buttons[right_indicator_button_]==0 && joy_msg->buttons[left_indicator_button_]==0)
            {
              joy_active_ = true;
              ROS_INFO("%s velocity mode",comp_name.c_str());
              vel_cmd.data.resize(component_config_[comp_name].joint_velocity.size());
              if(up_down_button_>=0 && up_down_button_<(int)joy_msg->axes.size())
              {
                vel_cmd.data[count+i-1]=joy_msg->axes[up_down_button_]*component_config_[comp_name].joint_velocity[count+i-1];
              }
              if((i+1)*2 <= component_config_[comp_name].joint_velocity.size())
              {
                if(right_left_button_>=0 && right_left_button_<(int)joy_msg->axes.size())
                {
                  vel_cmd.data[count+i]=joy_msg->axes[right_left_button_]*component_config_[comp_name].joint_velocity[count+i];
                }
              }
            component_config_[comp_name].vel_group_controller_publisher_.publish(vel_cmd);
          }
        }
        else if(!(comp_name.find("left") != std::string::npos) && (comp_name.find("right") != std::string::npos))
        {
          if(component_joint_button_temp>=0 && component_joint_button_temp<(int)joy_msg->buttons.size() && joy_msg->buttons[component_joint_button_temp]==1 && joy_msg->buttons[right_indicator_button_]==1)
          {
            joy_active_ = true;
            ROS_INFO("%s velocity mode",comp_name.c_str());
            vel_cmd.data.resize(component_config_[comp_name].joint_velocity.size());
            if(up_down_button_>=0 && up_down_button_<(int)joy_msg->axes.size())
            {
              vel_cmd.data[count+i-1]=joy_msg->axes[up_down_button_]*component_config_[comp_name].joint_velocity[count+i-1];
            }
            if((i+1)*2 <= component_config_[comp_name].joint_velocity.size())
            {
              if(right_left_button_>=0 && right_left_button_<(int)joy_msg->axes.size())
              {
                vel_cmd.data[count+i]=joy_msg->axes[right_left_button_]*component_config_[comp_name].joint_velocity[count+i];
              }
            }
            component_config_[comp_name].vel_group_controller_publisher_.publish(vel_cmd);
          }
        }
        else if((comp_name.find("left") != std::string::npos) && !(comp_name.find("right") != std::string::npos))
        {
          if(component_joint_button_temp>=0 && component_joint_button_temp<(int)joy_msg->buttons.size() && joy_msg->buttons[component_joint_button_temp]==1 && joy_msg->buttons[left_indicator_button_]==1)
          {
            joy_active_ = true;
            ROS_INFO("%s velocity mode",comp_name.c_str());
            vel_cmd.data.resize(component_config_[comp_name].joint_velocity.size());
            if(up_down_button_>=0 && up_down_button_<(int)joy_msg->axes.size())
            {
              vel_cmd.data[count+i-1]=joy_msg->axes[up_down_button_]*component_config_[comp_name].joint_velocity[count+i-1];
            }
            if((i+1)*2 <= component_config_[comp_name].joint_velocity.size())
            {
              if(right_left_button_>=0 && right_left_button_<(int)joy_msg->axes.size())
              {
                vel_cmd.data[count+i]=joy_msg->axes[right_left_button_]*component_config_[comp_name].joint_velocity[count+i];
              }
            }
            component_config_[comp_name].vel_group_controller_publisher_.publish(vel_cmd);
          }
        }
      }
    }
  }
 
  //-------MODE 4
  if (mode_==4)
  {
    ROS_DEBUG("Mode 4: Move the actuators using the twist controller");
    for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=components_.begin();p!=components_.end();++p)
    {
      int component_twist_button_temp = -1;
      std::string comp_name = p->first;
      std::string component_twist_button = comp_name + "_twist_button";
      n_.getParam(component_twist_button,component_twist_button_temp);
      geometry_msgs::Twist twist_cmd;
      if (component_twist_button_temp>=0 && component_twist_button_temp<(int)joy_msg->buttons.size() && joy_msg->buttons[component_twist_button_temp]==1)
      {
        joy_active_ = true;
        ROS_INFO("%s twist mode",comp_name.c_str());
        if(axis_vx_>=0 && axis_vx_<(int)joy_msg->axes.size())
          twist_cmd.linear.x = joy_msg->axes[axis_vx_]*component_config_[comp_name].twist_max_vel[0]; //*run_factor_;
        else
          twist_cmd.linear.x =0.0;
        if(axis_vy_>=0 && axis_vy_<(int)joy_msg->axes.size())
          twist_cmd.linear.y = joy_msg->axes[axis_vy_]*component_config_[comp_name].twist_max_vel[1]; //*run_factor_;
        else
          twist_cmd.linear.y =0.0;
        if(axis_vz_>=0 && axis_vz_<(int)joy_msg->axes.size())
          twist_cmd.linear.z = joy_msg->axes[axis_vz_]*component_config_[comp_name].twist_max_vel[2]; //*run_factor_;
        else
          twist_cmd.linear.z =0.0;
        if(axis_roll_>=0 && axis_roll_<(int)joy_msg->axes.size())
          twist_cmd.angular.x = joy_msg->axes[axis_roll_]*component_config_[comp_name].twist_max_vel[3]; //*run_factor_;
        else
          twist_cmd.angular.x =0.0;
        if(axis_pitch_>=0 && axis_pitch_<(int)joy_msg->axes.size())
          twist_cmd.angular.y = joy_msg->axes[axis_pitch_]*component_config_[comp_name].twist_max_vel[4]; //*run_factor_;
        else
          twist_cmd.angular.y =0.0;
        if(axis_yaw_>=0 && axis_yaw_<(int)joy_msg->axes.size())
          twist_cmd.angular.z = joy_msg->axes[axis_yaw_]*component_config_[comp_name].twist_max_vel[5]; //*run_factor_;
        else
          twist_cmd.angular.z =0.0;
        component_config_[comp_name].twist_controller_publisher_.publish(twist_cmd);
      }
    }
  }
}
 
void CobTeleop::init()
{
  n_ = ros::NodeHandle("~");
  if(!n_.hasParam("components"))
  {
    ROS_ERROR("parameter components does not exist on ROS Parameter Server, aborting...");
    exit(0);
  }
  // common
  n_.param("publish_freq",publish_freq_, 30.0);
  n_.param("run_factor",run_factor_param_,1.5);
  n_.param("apply_ramp",apply_ramp_,true);
 
  // joy config
  n_.param("joy_num_modes",joy_num_modes_,2);
  n_.param("mode_switch_button",mode_switch_button_,0);
  n_.param("joy_config_switch",joy_config_switch_, std::string("D"));
 
  // assign axis
  n_.param("axis_vx",axis_vx_,17);
  n_.param("axis_vy",axis_vy_,16);
  n_.param("axis_vz",axis_vz_,17);
  n_.param("axis_roll",axis_roll_,16);
  n_.param("axis_pitch",axis_pitch_,19);
  n_.param("axis_yaw",axis_yaw_,19);
  n_.param("axis_run",axis_run_,20);
 
  // assign buttons
  n_.param("deadman_button",deadman_button_,11);
  n_.param("safety_button",safety_button_,10);
  n_.param("init_button",init_button_,3);
 
  n_.param("run_button",run_button_,9);
  n_.param("dock_button",dock_button_,3);
  n_.param("undock_button",undock_button_,1);
 
  n_.param("right_indicator_button",right_indicator_button_,9);
  n_.param("left_indicator_button",left_indicator_button_,8);
  n_.param("up_down_button",up_down_button_,4);
  n_.param("right_left_button",right_left_button_,5);
 
  // output for debugging
  ROS_DEBUG("init::axis_vx: %d",axis_vx_);
  ROS_DEBUG("init::axis_vy: %d",axis_vy_);
  ROS_DEBUG("init::axis_vz: %d",axis_vz_);
  ROS_DEBUG("init::axis_roll: %d",axis_roll_);
  ROS_DEBUG("init::axis_pitch: %d",axis_pitch_);
  ROS_DEBUG("init::axis_yaw: %d",axis_yaw_);
 
  ROS_DEBUG("init::deadman_button: %d",deadman_button_);
  ROS_DEBUG("init::safety_button: %d",safety_button_);
  ROS_DEBUG("init::init_button: %d",init_button_);
  ROS_DEBUG("init::run_button: %d",run_button_);
 
  ROS_DEBUG("init::right_indicator_button: %d",right_indicator_button_);
  ROS_DEBUG("init::left_indicator_button: %d",left_indicator_button_);
  ROS_DEBUG("init::up_down_button: %d",up_down_button_);
  ROS_DEBUG("init::right_left_button: %d",right_left_button_);
 
  joy_sub_ = n_.subscribe("/joy",1,&CobTeleop::joy_cb,this);
  mode_ = 1;
  LEDS_=led_mode_[mode_];
  joy_active_ = false;
  safe_mode_ = true;
  axis_run_updated_ = false;
 
  cob_light::LightMode light;
  light.mode = cob_light::LightModes::FLASH;
  light.frequency = 5;
  light.priority = 12;
  std_msgs::ColorRGBA color;
  color.r = 0;
  color.g = 1;
  color.b = 0;
  color.a = 1;
  light.pulses = 2;
  light.colors.push_back(color);
  confirm_light_goal_.mode = light;
 
  color.r = 1;
  color.g = 0;
  light.pulses = 3;
  light.colors.clear();
  light.colors.push_back(color);
  error_light_goal_.mode = light;
}
 
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "cob_teleop");
  CobTeleop  cob_teleop;
  cob_teleop.init();
  cob_teleop.getConfigurationFromParameters();
  ros::Rate loop_rate(cob_teleop.publish_freq_); //Hz
  while(cob_teleop.n_.ok())
  {
    cob_teleop.updateBase();
    ros::spinOnce();
    loop_rate.sleep();
  }
 
  exit(0);
  return(0);
}