NuManual.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/control/HLControl.hpp>
#include <labust/control/EnablePolicy.hpp>
#include <labust/control/ManControl.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>

#include <auv_msgs/BodyVelocityReq.h>

namespace labust
{
        namespace control{
                template <class Enable>
                struct NuManual : public Enable, ConfigureAxesPolicy
                {
                        NuManual():
                        nu_max(Eigen::Vector6d::Zero())
                        {this->init();};

                        void init()
                        {
                                ros::NodeHandle nh;
                                joy = nh.subscribe<sensor_msgs::Joy>("joy", 1,
                                                &NuManual::onJoy,this);
                                nuRef = nh.advertise<auv_msgs::BodyVelocityReq>("nuRef", 1);

                                initialize_manual();
                        }

                        void onJoy(const sensor_msgs::Joy::ConstPtr& joyIn)
                        {
                                if (!Enable::enable) return;
                                auv_msgs::BodyVelocityReq::Ptr nu(new auv_msgs::BodyVelocityReq());
                                Eigen::Vector6d mapped;
                                mapper.remap(*joyIn, mapped);

                                nu->header.stamp = ros::Time::now();
                                nu->header.frame_id = "base_link";
                                nu->goal.requester = "nu_manual";
                                nu->disable_axis = this->disable_axis;

                                mapped = nu_max.cwiseProduct(mapped);
                                labust::tools::vectorToPoint(mapped, nu->twist.linear);
                                labust::tools::vectorToPoint(mapped, nu->twist.angular, 3);

                                nuRef.publish(nu);
                        }

                        void initialize_manual()
                        {
                                ROS_INFO("Initializing manual nu controller...");

                                ros::NodeHandle nh;
                                labust::tools::getMatrixParam(nh,"nu_manual/maximum_speeds", nu_max);

                                ROS_INFO("Manual nu controller initialized.");
                        }

                private:
                        Eigen::Vector6d nu_max;
                        ros::Subscriber joy;
                        ros::Publisher nuRef;
                        JoystickMapping mapper;
                };
        }
}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"nu_manual");

        labust::control::NuManual<labust::control::EnableServicePolicy> controller;
        ros::spin();

        return 0;
}