carl_key_teleop.h File Reference

#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <sensor_msgs/Joy.h>
#include <signal.h>
#include <termios.h>
#include <wpi_jaco_msgs/AngularCommand.h>
#include <wpi_jaco_msgs/CartesianCommand.h>

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Classes
class	carl_key_teleop
Defines
#define	ARM_CONTROL   0
#define	BASE_CONTROL   2
#define	FINGER_CONTROL   1
#define	KEYCODE_1   0x31
#define	KEYCODE_2   0x32
#define	KEYCODE_3   0x33
#define	KEYCODE_A   0x61
#define	KEYCODE_D   0x64
#define	KEYCODE_DOWN   0x42
#define	KEYCODE_E   0x65
#define	KEYCODE_F   0x66
#define	KEYCODE_H   0x68
#define	KEYCODE_LEFT   0x44
#define	KEYCODE_Q   0x71
#define	KEYCODE_R   0x72
#define	KEYCODE_RIGHT   0x43
#define	KEYCODE_S   0x73
#define	KEYCODE_UP   0x41
#define	KEYCODE_W   0x77
	Allows for control of CARL with a keyboard.
#define	MAX_ANG_VEL_ARM   1.047
#define	MAX_ANG_VEL_BASE   1.2
#define	MAX_FINGER_VEL   30
#define	MAX_TRANS_VEL_ARM   .175
#define	MAX_TRANS_VEL_BASE   .8
Functions
int	main (int argc, char **argv)
void	shutdown (int sig)

---

Define Documentation

#define ARM_CONTROL   0

Definition at line 74 of file carl_key_teleop.h.

#define BASE_CONTROL   2

Definition at line 76 of file carl_key_teleop.h.

#define FINGER_CONTROL   1

Definition at line 75 of file carl_key_teleop.h.

#define KEYCODE_1   0x31

Definition at line 68 of file carl_key_teleop.h.

#define KEYCODE_2   0x32

Definition at line 69 of file carl_key_teleop.h.

#define KEYCODE_3   0x33

Definition at line 70 of file carl_key_teleop.h.

#define KEYCODE_A   0x61

Definition at line 57 of file carl_key_teleop.h.

#define KEYCODE_D   0x64

Definition at line 59 of file carl_key_teleop.h.

#define KEYCODE_DOWN   0x42

Definition at line 67 of file carl_key_teleop.h.

#define KEYCODE_E   0x65

Definition at line 61 of file carl_key_teleop.h.

#define KEYCODE_F   0x66

Definition at line 63 of file carl_key_teleop.h.

#define KEYCODE_H   0x68

Definition at line 71 of file carl_key_teleop.h.

#define KEYCODE_LEFT   0x44

Definition at line 65 of file carl_key_teleop.h.

#define KEYCODE_Q   0x71

Definition at line 60 of file carl_key_teleop.h.

#define KEYCODE_R   0x72

Definition at line 62 of file carl_key_teleop.h.

#define KEYCODE_RIGHT   0x43

Definition at line 64 of file carl_key_teleop.h.

#define KEYCODE_S   0x73

Definition at line 58 of file carl_key_teleop.h.

#define KEYCODE_UP   0x41

Definition at line 66 of file carl_key_teleop.h.

#define KEYCODE_W   0x77

Allows for control of CARL with a keyboard.

.cpp carl_key_teleop creates a ROS node that allows the control of CARL with a keyboard. This node takes input from the keyboard via the terminal and sends messages to the /cmd_vel topic for the base and cartesian_cmd for the arm.

Author:

David Kent, WPI - davidkent@wpi.edu

Steven Kordell, WPI - spkordell@wpi.edu

Date:

May 23, 2014

Definition at line 56 of file carl_key_teleop.h.

#define MAX_ANG_VEL_ARM   1.047

Definition at line 91 of file carl_key_teleop.h.

#define MAX_ANG_VEL_BASE   1.2

Definition at line 111 of file carl_key_teleop.h.

#define MAX_FINGER_VEL   30

The maximum velocity for a finger.

Definition at line 97 of file carl_key_teleop.h.

#define MAX_TRANS_VEL_ARM   .175

Definition at line 84 of file carl_key_teleop.h.

#define MAX_TRANS_VEL_BASE   .8

Definition at line 104 of file carl_key_teleop.h.

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Creates and runs the carl_key_teleop node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:

EXIT_SUCCESS if the node runs correctly

Creates and runs the carl_joy_teleop node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:

EXIT_SUCCESS if the node runs correctly

Definition at line 688 of file carl_joy_teleop.cpp.

void shutdown

(

int

sig

)

A function to close ROS and exit the program.

Parameters:

sig	The signal value.

Definition at line 364 of file carl_key_teleop.cpp.