spacenav_teleop.h

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/******************************************************************************
 * \file
 *
 * $Id: teleop_cob_marker.h 2037 2012-11-30 16:28:17Z spanel $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by Robo@FIT group.
 *
 * Author: Zdenek Materna (imaterna@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: 1/12/2012
 *
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef TELEOPCOBSPACENAV_H_
#define TELEOPCOBSPACENAV_H_

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <tf/transform_datatypes.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Vector3.h>
#include <boost/signals2/mutex.hpp>
#include <std_srvs/Empty.h>
#include <tf/transform_listener.h>
#include <Eigen/Core>
#include <Eigen/Geometry>

namespace cob_spacenav_teleop
{

struct Params {


        double max_vel_x;
        double max_vel_y;
        double max_vel_th;

        double scale_linear;
        double scale_angular;

        double sn_max_val;
    double sn_min_val_th;

    bool use_rviz_cam;
    std::string rviz_cam_link;
    std::string robot_base_link;

    double publish_rate;

    bool instant_stop_enabled;

    double ignore_th_high;
    double ignore_th_low;

    bool unsafe_limiter;

};

struct SpacenavData {

        geometry_msgs::Vector3 offset;
        geometry_msgs::Vector3 rot_offset;

        bool offset_received;
        bool rot_offset_received;

        boost::signals2::mutex mutex;

        ros::Time last_data;
        ros::Time last_nonzero_data;

};

struct Buttons {

        boost::signals2::mutex mutex;

        bool left;
        bool right;
        bool right_last;
        bool right_trigger;
};


class SpaceNavTeleop
{
public:

        SpaceNavTeleop();
        ~SpaceNavTeleop();

        bool transf(std::string target_frame,geometry_msgs::PoseStamped& pose);

protected:

        ros::Subscriber offset_sub_;
        ros::Subscriber rot_offset_sub_;

        Params params_;

        void spacenavOffsetCallback(const geometry_msgs::Vector3ConstPtr& offset);
        void spacenavRotOffsetCallback(const geometry_msgs::Vector3ConstPtr& rot_offset);

        void timerCallback(const ros::TimerEvent& ev);
        ros::Timer timer_;

        void tfTimerCallback(const ros::TimerEvent& ev);
        ros::Timer tf_timer_;

        ros::Publisher twist_publisher_safe_;
        ros::Publisher twist_publisher_unsafe_;

        SpacenavData sn_data_;


        bool stop_detected_;
        ros::Time time_of_stop_;

        bool enabled_;
        ros::ServiceServer service_en_;
        ros::ServiceServer service_dis_;

        bool Enable(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
        bool Disable(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);

        tf::TransformListener *tfl_;

        geometry_msgs::PoseStamped bp_;


        geometry_msgs::Vector3 GetAsEuler(geometry_msgs::Quaternion quat);
        void normAngle(double& a);

        //bool some_dir_limited_;
        bool x_pref_;
        bool y_pref_;
        bool z_pref_;

        ros::Time pref_time_;

        void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
        ros::Subscriber joy_sub_;
        bool publishing_to_unsafe_;
        bool robot_centric_mode_;

        Buttons btns_;

private:

};

}

#endif /* TELEOPCOBSPACENAV_H_ */