Public Member Functions | Private Member Functions | Private Attributes
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::HeaderlessTopicDiagnosticpub_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::HeaderlessTopicDiagnosticsus_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< ButtonvButtons
 Vector to save and control the axis values.
ros::Publisher vel_pub_
 It will publish into command velocity (for the robot)

Detailed Description

Definition at line 113 of file agvs_pad_node.cpp.


Constructor & Destructor Documentation

Definition at line 209 of file agvs_pad_node.cpp.


Member Function Documentation

Controls the actions and states.

Definition at line 359 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 330 of file agvs_pad_node.cpp.

void AgvsPad::joyCallback ( const sensor_msgs::Joy::ConstPtr &  joy) [private]

Definition at line 340 of file agvs_pad_node.cpp.

void AgvsPad::PublishState ( ) [private]

Definition at line 321 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 316 of file agvs_pad_node.cpp.


Member Data Documentation

double AgvsPad::a_scale_ [private]

Definition at line 139 of file agvs_pad_node.cpp.

Definition at line 138 of file agvs_pad_node.cpp.

Definition at line 138 of file agvs_pad_node.cpp.

bool AgvsPad::bEnable [private]

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

Definition at line 205 of file agvs_pad_node.cpp.

bool AgvsPad::bOutput1 [private]

Definition at line 191 of file agvs_pad_node.cpp.

bool AgvsPad::bOutput2 [private]

Definition at line 191 of file agvs_pad_node.cpp.

Number of the DEADMAN button.

Definition at line 186 of file agvs_pad_node.cpp.

Definition at line 189 of file agvs_pad_node.cpp.

Definition at line 188 of file agvs_pad_node.cpp.

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

Definition at line 188 of file agvs_pad_node.cpp.

int AgvsPad::button_up_car_ [private]

Definition at line 189 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 157 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 155 of file agvs_pad_node.cpp.

double AgvsPad::current_speed_lvl [private]

Definition at line 140 of file agvs_pad_node.cpp.

double AgvsPad::desired_freq_ [private]

Desired component's freq.

Definition at line 144 of file agvs_pad_node.cpp.

Service clients.

Definition at line 170 of file agvs_pad_node.cpp.

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

Vector to save the axis values.

Definition at line 182 of file agvs_pad_node.cpp.

they will be suscribed to the joysticks

Definition at line 151 of file agvs_pad_node.cpp.

std::string AgvsPad::joy_topic_ [private]

// Name of the joystick's topic

Definition at line 153 of file agvs_pad_node.cpp.

double AgvsPad::l_scale_ [private]

Definition at line 139 of file agvs_pad_node.cpp.

Definition at line 173 of file agvs_pad_node.cpp.

Definition at line 142 of file agvs_pad_node.cpp.

double AgvsPad::max_freq_command [private]

Diagnostics max freq.

Definition at line 203 of file agvs_pad_node.cpp.

double AgvsPad::max_freq_joy [private]

Definition at line 203 of file agvs_pad_node.cpp.

double AgvsPad::max_linear_speed_ [private]

Set the max speed sent to the robot.

Definition at line 142 of file agvs_pad_node.cpp.

double AgvsPad::min_freq_command [private]

Diagnostics min freq.

Definition at line 201 of file agvs_pad_node.cpp.

double AgvsPad::min_freq_joy [private]

Definition at line 201 of file agvs_pad_node.cpp.

Definition at line 136 of file agvs_pad_node.cpp.

int AgvsPad::num_of_axes_ [private]

Definition at line 179 of file agvs_pad_node.cpp.

int AgvsPad::num_of_buttons_ [private]

Current number of buttons of the joystick.

Definition at line 178 of file agvs_pad_node.cpp.

int AgvsPad::output_1_ [private]

Definition at line 190 of file agvs_pad_node.cpp.

int AgvsPad::output_2_ [private]

Definition at line 190 of file agvs_pad_node.cpp.

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

Definition at line 195 of file agvs_pad_node.cpp.

Definition at line 172 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 166 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 164 of file agvs_pad_node.cpp.

Definition at line 171 of file agvs_pad_node.cpp.

Topic to publish the state.

Definition at line 161 of file agvs_pad_node.cpp.

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

Definition at line 197 of file agvs_pad_node.cpp.

std::string AgvsPad::topic_state_ [private]

topic name for the state

Definition at line 159 of file agvs_pad_node.cpp.

General status diagnostic updater.

Definition at line 199 of file agvs_pad_node.cpp.

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

Vector to save and control the axis values.

Definition at line 184 of file agvs_pad_node.cpp.

It will publish into command velocity (for the robot)

Definition at line 148 of file agvs_pad_node.cpp.


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


agvs_pad
Author(s): Román Navarro
autogenerated on Thu Jun 6 2019 18:19:19