kurt_teleop_cyborgevo.cpp
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00001 #include <ros/ros.h>
00002 #include <geometry_msgs/Twist.h>
00003 #include <std_msgs/String.h>
00004 #include <sensor_msgs/Joy.h>
00005 
00006 double max_vel_x, max_rotational_vel;
00007 ros::Publisher vel_pub;
00008 ros::Publisher req_pub;
00009 std_msgs::String request;
00010 
00011 bool requesting;
00012 
00013 void cyborgevoCallback(const sensor_msgs::Joy::ConstPtr& joy)
00014 {
00015   geometry_msgs::Twist vel;
00016   vel.linear.x = max_vel_x * (joy->axes[2] + 1) / 2 * joy->axes[1];
00017   vel.angular.z = max_rotational_vel * (joy->axes[2] + 1) / 2 * joy->axes[0];
00018   vel_pub.publish(vel);
00019 
00020   if (joy->buttons[0] != 0) {
00021     if(!requesting) req_pub.publish(request);
00022     requesting = true;
00023   }
00024   else requesting = false;
00025 }
00026 
00027 int main(int argc, char** argv)
00028 {
00029   ros::init(argc, argv, "kurt_teleop_cyborgevo");
00030 
00031   ros::NodeHandle nh;
00032   ros::NodeHandle nh_ns("~");
00033 
00034   nh_ns.param("max_vel_x", max_vel_x, 1.5);
00035   nh_ns.param("max_rotational_vel", max_rotational_vel, 3.0);
00036 
00037   request.data = "scanRequest";
00038   requesting = false;
00039 
00040   vel_pub = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
00041   req_pub = nh.advertise<std_msgs::String>("request", 1);
00042   ros::Subscriber cyborgevo_sub = nh.subscribe("joy", 10, cyborgevoCallback);
00043 
00044   ros::spin();
00045 }
00046 
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kurt_teleop
Author(s): Jochen Sprickerhof
autogenerated on Tue May 28 2013 17:24:27