Class RemoteControl

Class Documentation

class RemoteControl

Public Functions

inline explicit RemoteControl(const rclcpp::Executor::SharedPtr &executor, const rclcpp::NodeOptions &node_options)

Constructor for passing in NodeOptions.

Parameters:

  • executor – - An rclcpp executor

  • node – - A node

template<typename NodePtr>
inline explicit RemoteControl(NodePtr node)

Constructor for passing in a Node.

Parameters:

node – - A node

explicit RemoteControl(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr &node_base_interface, const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr &topics_interface, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_interface)

Constructor for passing in Node components for a node that is already added to an executor.

Parameters:

  • topics_iterface – - An interface for publishing and subscribing to topics

  • logging_iterface – - An interface for publishing to the rosconsole

void rvizDashboardCallback(const sensor_msgs::msg::Joy::ConstSharedPtr msg)

Callback from ROS topic.

bool getAutonomous()

Get the autonomous mode.

Returns:

true if is in autonomous mode

bool getFullAutonomous()
bool getStop()

See if we are in stop mode.

bool waitForNextStep(const std::string &caption = "go to next step")

Wait until user presses a button.

Returns:

true on success

bool waitForNextFullStep(const std::string &caption = "go to next full step")
inline void setDisplayWaitingState(DisplayWaitingState displayWaitingState)