Node for ARM teleop from the keyboard. More...
#include <teleop_arm_key.h>
Public Member Functions | |
TeleopArmKey () | |
Starts the command publisher and runs the init method. | |
Private Member Functions | |
bool | getCommand (const char c) |
Determines the command based on the input character. | |
void | init () |
Initializes the node. | |
void | keyLoop () |
Interprets user keypresses into ARM control commands. | |
void | print () |
Prints movement states to the screen. | |
Private Attributes | |
arm::constant_move | cmd_ |
ros::Publisher | cmd_pub_ |
ros::NodeHandle | n_ |
Node for ARM teleop from the keyboard.
This node controls the ARM with the keyboard. The controls are mapped in this file. Movement keys are a toggle (push to start, push to stop).
Definition at line 53 of file teleop_arm_key.h.
Starts the command publisher and runs the init method.
Definition at line 19 of file teleop_arm_key.cpp.
bool TeleopArmKey::getCommand | ( | const char | c | ) | [private] |
Determines the command based on the input character.
c | the input character |
Definition at line 99 of file teleop_arm_key.cpp.
void TeleopArmKey::init | ( | ) | [private] |
Initializes the node.
Waits for a subscriber to the command publisher, and then runs the keyLoop method.
Definition at line 35 of file teleop_arm_key.cpp.
void TeleopArmKey::keyLoop | ( | ) | [private] |
Interprets user keypresses into ARM control commands.
Definition at line 46 of file teleop_arm_key.cpp.
void TeleopArmKey::print | ( | ) | [private] |
Prints movement states to the screen.
Definition at line 227 of file teleop_arm_key.cpp.
arm::constant_move TeleopArmKey::cmd_ [private] |
Definition at line 66 of file teleop_arm_key.h.
ros::Publisher TeleopArmKey::cmd_pub_ [private] |
Definition at line 65 of file teleop_arm_key.h.
ros::NodeHandle TeleopArmKey::n_ [private] |
Definition at line 64 of file teleop_arm_key.h.