Class JoystickController

• Defined in File joystick_controller.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class JoystickController : public controller_interface::ControllerInterface

Public Functions

JOYSTICK_CONTROLLER_PUBLIC JoystickController()

JOYSTICK_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override

Protected Functions

void joint_states_callback(const sensor_msgs::msg::JointState::SharedPtr msg)

double normalize_joystick_value(double raw_adc, bool is_tact_switch) const

std::vector<double> read_and_normalize_sensor_values(size_t sensor_idx) const

void update_joystick_values(const std::string &sensor_name, const std::vector<double> &normalized_values, JoystickValues &joystick_values, bool &left_tact_pressed, bool &right_tact_pressed) const

void update_last_active_positions(const std::vector<std::string> &controlled_joints)

std::vector<double> calculate_joint_positions(const std::vector<std::string> &controlled_joints, const std::vector<double> &normalized_values, const std::string &sensor_name, bool swerve_mode, const JoystickValues &joystick_values) const

void publish_joint_trajectory(const std::vector<std::string> &controlled_joints, const std::vector<double> &positions, const std::string &sensor_name)

void publish_cmd_vel(bool swerve_mode, const JoystickValues &joystick_values)

void publish_joystick_values()

void handle_tact_switches(bool left_tact_pressed, bool right_tact_pressed, const rclcpp::Time &current_time)

Protected Attributes

std::vector<std::string> sensorxel_joy_names_

std::vector<std::string> state_interface_types_ = {"JOYSTICK X VALUE", "JOYSTICK Y VALUE", "JOYSTICK TACT SWITCH"}

size_t n_sensorxel_joys_ = 0

std::vector<std::vector<double>> sensorxel_joy_values_

std::vector<std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface>>> joint_state_interface_

sensor_msgs::msg::JointState current_joint_states_

bool was_active_ = false

bool has_joint_states_ = false

std::map<std::string, std::vector<std::string>> sensor_controlled_joints_

std::map<std::string, std::vector<std::string>> sensor_reverse_interfaces_

std::map<std::string, std::string> sensor_joint_trajectory_topic_

std::map<std::string, std::vector<double>> sensor_last_active_positions_

std::map<std::string, rclcpp::Publisher<trajectory_msgs::msg::JointTrajectory>::SharedPtr> sensor_joint_trajectory_publisher_

std::map<std::string, rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr> sensorxel_joy_publisher_

std::map<std::string, double> sensor_jog_scale_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_states_subscriber_

std::shared_ptr<ParamListener> param_listener_

Params params_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr mode_pub_

std::string current_mode_ = "arm_control"

bool prev_tact_switch_ = false

bool prev_right_tact_switch_ = false

bool prev_left_tact_switch_ = false

bool both_pressed_flag_ = false

rclcpp::Time left_tact_press_start_time_

rclcpp::Time right_tact_press_start_time_

bool left_tact_long_press_triggered_ = false

bool right_tact_long_press_triggered_ = false

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr tact_trigger_pub_