carl_key_teleop Class Reference

#include <carl_key_teleop.h>

List of all members.

Public Member Functions
	carl_key_teleop ()
void	loop ()
void	watchdog ()
Private Member Functions
void	displayHelp ()
	Displays a help menu appropriate to the current mode.
void	publish (double, double)
	Publishes a cmd_vels.
Private Attributes
ros::Publisher	angular_cmd
double	angular_throttle_factor_arm
double	angular_throttle_factor_base
ros::Publisher	cartesian_cmd
double	finger_throttle_factor
ros::Time	first_publish_
ros::Time	last_publish_
double	linear_throttle_factor_arm
double	linear_throttle_factor_base
int	mode
ros::NodeHandle	nh_
boost::mutex	publish_mutex_
ros::Publisher	vel_pub_

---

Detailed Description

Definition at line 113 of file carl_key_teleop.h.

---

Constructor & Destructor Documentation

carl_key_teleop::carl_key_teleop

(

)

Creates a carl_key_teleop object that can be used control carl with a keyboard. ROS nodes, services, and publishers are created and maintained within this object.

Definition at line 49 of file carl_key_teleop.cpp.

---

Member Function Documentation

void carl_key_teleop::displayHelp

(

)

[private]

Displays a help menu appropriate to the current mode.

Displays a help menu with keyboard controls for the current control mode

Definition at line 310 of file carl_key_teleop.cpp.

void carl_key_teleop::loop

(

)

Monitors the keyboard and publishes cmd_vels whenever a key corresponding to a motion command is pressed.

Definition at line 79 of file carl_key_teleop.cpp.

void carl_key_teleop::publish	(	double	angular,
		double	linear
	)		[private]

Publishes a cmd_vels.

Helper function for publishing cmd_vels.

Definition at line 301 of file carl_key_teleop.cpp.

void carl_key_teleop::watchdog

(

)

Publishes cmd_vels to stop the robot if no key is pressed after a short time period.

Definition at line 71 of file carl_key_teleop.cpp.

---

Member Data Documentation

ros::Publisher carl_key_teleop::angular_cmd [private]

The mutex for the twist topic. angular commands for finger control

Definition at line 152 of file carl_key_teleop.h.

double carl_key_teleop::angular_throttle_factor_arm [private]

factor for reducing the arm angular speed

Definition at line 160 of file carl_key_teleop.h.

double carl_key_teleop::angular_throttle_factor_base [private]

factor for reducing the base angular speed

Definition at line 158 of file carl_key_teleop.h.

ros::Publisher carl_key_teleop::cartesian_cmd [private]

cartesian commands for arm control

Definition at line 153 of file carl_key_teleop.h.

double carl_key_teleop::finger_throttle_factor [private]

factor for reducing the finger speed

Definition at line 161 of file carl_key_teleop.h.

ros::Time carl_key_teleop::first_publish_ [private]

Public node handle.

Definition at line 148 of file carl_key_teleop.h.

ros::Time carl_key_teleop::last_publish_ [private]

Definition at line 148 of file carl_key_teleop.h.

double carl_key_teleop::linear_throttle_factor_arm [private]

factor for reducing the arm linear speed

Definition at line 159 of file carl_key_teleop.h.

double carl_key_teleop::linear_throttle_factor_base [private]

factor for reducing the base linear speed

Definition at line 157 of file carl_key_teleop.h.

int carl_key_teleop::mode [private]

The publisher for the base twist topic. the controller mode

Definition at line 156 of file carl_key_teleop.h.

ros::NodeHandle carl_key_teleop::nh_ [private]

Definition at line 147 of file carl_key_teleop.h.

boost::mutex carl_key_teleop::publish_mutex_ [private]

Publish times used by the watchdog.

Definition at line 150 of file carl_key_teleop.h.

ros::Publisher carl_key_teleop::vel_pub_ [private]

Definition at line 154 of file carl_key_teleop.h.

---

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

• carl_key_teleop.h
• carl_key_teleop.cpp