AgvsPad Class Reference

List of all members.

Public Member Functions
	AgvsPad ()
void	ControlLoop ()
	Controls the actions and states.
int	SetStateMode (int state, int arm_mode, int platform_mode)
Private Member Functions
bool	EnableDisable (robotnik_msgs::enable_disable::Request &req, robotnik_msgs::enable_disable::Response &res)
	Enables/Disables the joystick.
void	joyCallback (const sensor_msgs::Joy::ConstPtr &joy)
void	PublishState ()
char *	StateToString (int state)
int	SwitchToState (int new_state)
void	Update ()
Private Attributes
double	a_scale_
int	axis_angular_position_
int	axis_linear_speed_
bool	bEnable
	Flag to enable/disable the communication with the publishers topics.
bool	bOutput1
bool	bOutput2
int	button_dead_man_
	Number of the DEADMAN button.
int	button_down_car_
int	button_speed_down_
int	button_speed_up_
	Number of the button for increase or decrease the speed max of the joystick.
int	button_up_car_
std::string	cmd_service_io_
	Name of the service where it will be modifying the digital outputs.
std::string	cmd_topic_vel
	Name of the topic where it will be publishing the velocity.
double	current_speed_lvl
double	desired_freq_
	Desired component's freq.
ros::ServiceServer	enable_disable_srv_
	Service clients.
std::vector< float >	fAxes
	Vector to save the axis values.
ros::Subscriber	joy_sub_
	they will be suscribed to the joysticks
std::string	joy_topic_
	// Name of the joystick's topic
double	l_scale_
ros::ServiceClient	lower_elevator_client_
double	max_angular_position_
double	max_freq_command
	Diagnostics max freq.
double	max_freq_joy
double	max_linear_speed_
	Set the max speed sent to the robot.
double	min_freq_command
	Diagnostics min freq.
double	min_freq_joy
ros::NodeHandle	nh_
int	num_of_axes_
int	num_of_buttons_
	Current number of buttons of the joystick.
int	output_1_
int	output_2_
diagnostic_updater::HeaderlessTopicDiagnostic *	pub_command_freq
	Diagnostic to control the frequency of the published command velocity topic.
ros::ServiceClient	raise_elevator_client_
std::string	service_lower_elevator_
	Name of the service called to lower the elevator.
std::string	service_raise_elevator_
	Name of the service called to raise the elevator.
ros::ServiceClient	set_digital_outputs_client_
ros::Publisher	state_pub_
	Topic to publish the state.
diagnostic_updater::HeaderlessTopicDiagnostic *	sus_joy_freq
	Diagnostic to control the reception frequency of the subscribed joy topic.
std::string	topic_state_
	topic name for the state
diagnostic_updater::Updater	updater_pad
	General status diagnostic updater.
std::vector< Button >	vButtons
	Vector to save and control the axis values.
ros::Publisher	vel_pub_
	It will publish into command velocity (for the robot)

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Detailed Description

Definition at line 111 of file agvs_pad_node.cpp.

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Constructor & Destructor Documentation

AgvsPad::AgvsPad

(

)

Definition at line 207 of file agvs_pad_node.cpp.

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Member Function Documentation

void AgvsPad::ControlLoop

(

)

Controls the actions and states.

Definition at line 363 of file agvs_pad_node.cpp.

bool AgvsPad::EnableDisable	(	robotnik_msgs::enable_disable::Request &	req,
		robotnik_msgs::enable_disable::Response &	res
	)		[private]

Enables/Disables the joystick.

Definition at line 337 of file agvs_pad_node.cpp.

void AgvsPad::joyCallback

(

const sensor_msgs::Joy::ConstPtr &

joy

)

[private]

Definition at line 347 of file agvs_pad_node.cpp.

void AgvsPad::PublishState

(

)

[private]

Definition at line 319 of file agvs_pad_node.cpp.

int AgvsPad::SetStateMode	(	int	state,
		int	arm_mode,
		int	platform_mode
	)

char* AgvsPad::StateToString

(

int

state

)

[private]

int AgvsPad::SwitchToState

(

int

new_state

)

[private]

void AgvsPad::Update

(

)

[private]

Definition at line 314 of file agvs_pad_node.cpp.

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Member Data Documentation

double AgvsPad::a_scale_ [private]

Definition at line 137 of file agvs_pad_node.cpp.

int AgvsPad::axis_angular_position_ [private]

Definition at line 136 of file agvs_pad_node.cpp.

int AgvsPad::axis_linear_speed_ [private]

Definition at line 136 of file agvs_pad_node.cpp.

bool AgvsPad::bEnable [private]

Flag to enable/disable the communication with the publishers topics.

Definition at line 203 of file agvs_pad_node.cpp.

bool AgvsPad::bOutput1 [private]

Definition at line 189 of file agvs_pad_node.cpp.

bool AgvsPad::bOutput2 [private]

Definition at line 189 of file agvs_pad_node.cpp.

int AgvsPad::button_dead_man_ [private]

Number of the DEADMAN button.

Definition at line 184 of file agvs_pad_node.cpp.

int AgvsPad::button_down_car_ [private]

Definition at line 187 of file agvs_pad_node.cpp.

int AgvsPad::button_speed_down_ [private]

Definition at line 186 of file agvs_pad_node.cpp.

int AgvsPad::button_speed_up_ [private]

Number of the button for increase or decrease the speed max of the joystick.

Definition at line 186 of file agvs_pad_node.cpp.

int AgvsPad::button_up_car_ [private]

Definition at line 187 of file agvs_pad_node.cpp.

std::string AgvsPad::cmd_service_io_ [private]

Name of the service where it will be modifying the digital outputs.

Definition at line 155 of file agvs_pad_node.cpp.

std::string AgvsPad::cmd_topic_vel [private]

Name of the topic where it will be publishing the velocity.

Definition at line 153 of file agvs_pad_node.cpp.

double AgvsPad::current_speed_lvl [private]

Definition at line 138 of file agvs_pad_node.cpp.

double AgvsPad::desired_freq_ [private]

Desired component's freq.

Definition at line 142 of file agvs_pad_node.cpp.

ros::ServiceServer AgvsPad::enable_disable_srv_ [private]

Service clients.

Definition at line 168 of file agvs_pad_node.cpp.

std::vector<float> AgvsPad::fAxes [private]

Vector to save the axis values.

Definition at line 180 of file agvs_pad_node.cpp.

ros::Subscriber AgvsPad::joy_sub_ [private]

they will be suscribed to the joysticks

Definition at line 149 of file agvs_pad_node.cpp.

std::string AgvsPad::joy_topic_ [private]

// Name of the joystick's topic

Definition at line 151 of file agvs_pad_node.cpp.

double AgvsPad::l_scale_ [private]

Definition at line 137 of file agvs_pad_node.cpp.

ros::ServiceClient AgvsPad::lower_elevator_client_ [private]

Definition at line 171 of file agvs_pad_node.cpp.

double AgvsPad::max_angular_position_ [private]

Definition at line 140 of file agvs_pad_node.cpp.

double AgvsPad::max_freq_command [private]

Diagnostics max freq.

Definition at line 201 of file agvs_pad_node.cpp.

double AgvsPad::max_freq_joy [private]

Definition at line 201 of file agvs_pad_node.cpp.

double AgvsPad::max_linear_speed_ [private]

Set the max speed sent to the robot.

Definition at line 140 of file agvs_pad_node.cpp.

double AgvsPad::min_freq_command [private]

Diagnostics min freq.

Definition at line 199 of file agvs_pad_node.cpp.

double AgvsPad::min_freq_joy [private]

Definition at line 199 of file agvs_pad_node.cpp.

ros::NodeHandle AgvsPad::nh_ [private]

Definition at line 134 of file agvs_pad_node.cpp.

int AgvsPad::num_of_axes_ [private]

Definition at line 177 of file agvs_pad_node.cpp.

int AgvsPad::num_of_buttons_ [private]

Current number of buttons of the joystick.

Definition at line 176 of file agvs_pad_node.cpp.

int AgvsPad::output_1_ [private]

Definition at line 188 of file agvs_pad_node.cpp.

int AgvsPad::output_2_ [private]

Definition at line 188 of file agvs_pad_node.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* AgvsPad::pub_command_freq [private]

Diagnostic to control the frequency of the published command velocity topic.

Definition at line 193 of file agvs_pad_node.cpp.

ros::ServiceClient AgvsPad::raise_elevator_client_ [private]

Definition at line 170 of file agvs_pad_node.cpp.

std::string AgvsPad::service_lower_elevator_ [private]

Name of the service called to lower the elevator.

Definition at line 164 of file agvs_pad_node.cpp.

std::string AgvsPad::service_raise_elevator_ [private]

Name of the service called to raise the elevator.

Definition at line 162 of file agvs_pad_node.cpp.

ros::ServiceClient AgvsPad::set_digital_outputs_client_ [private]

Definition at line 169 of file agvs_pad_node.cpp.

ros::Publisher AgvsPad::state_pub_ [private]

Topic to publish the state.

Definition at line 159 of file agvs_pad_node.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* AgvsPad::sus_joy_freq [private]

Diagnostic to control the reception frequency of the subscribed joy topic.

Definition at line 195 of file agvs_pad_node.cpp.

std::string AgvsPad::topic_state_ [private]

topic name for the state

Definition at line 157 of file agvs_pad_node.cpp.

diagnostic_updater::Updater AgvsPad::updater_pad [private]

General status diagnostic updater.

Definition at line 197 of file agvs_pad_node.cpp.

std::vector<Button> AgvsPad::vButtons [private]

Vector to save and control the axis values.

Definition at line 182 of file agvs_pad_node.cpp.

ros::Publisher AgvsPad::vel_pub_ [private]

It will publish into command velocity (for the robot)

Definition at line 146 of file agvs_pad_node.cpp.

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The documentation for this class was generated from the following file:

• agvs_pad_node.cpp