ps3.h

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#include "ros/ros.h"
#include "sensor_msgs/Joy.h"
#include "geometry_msgs/Twist.h"
#include "im_msgs/SetRGB.h"

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

#include "IMEIO.h"
#include "ErrorCodes.h"

using namespace std;

class IMJoystick
{
        public:
        ros::NodeHandle n;
        geometry_msgs::Twist cmd;
        
        double max_lin, max_ang;
        double max_x, max_z;
        bool deadman;
        
        double d_timeout;
        
        ros::Publisher vel_pub;
        ros::Subscriber joy_sub_;
        ros::ServiceClient client;

        IMJoystick();
        ~IMJoystick(){}
        void init();
        void CallbackJoy(const sensor_msgs::Joy::ConstPtr& joy_msg);
        void PublishVel();
        void CallRGBService();
        void TurnOffRGB();
                        
        private:
        int deadman_button;
        int axr_leftwards;
        int axr_upwards;
        
        int axl_leftwards;
        int axl_upwards;

  int triangle_button, cross_button, square_button, circle_button;

        ros::Time last_time;
        geometry_msgs::Twist vel_msg;
        
        void CheckTimeout();
};