Nao Teleoperation via Joystick. Ct. More...

#include <teleop_nao_joy.h>

Public Member Functions
bool	callBodyPoseClient (const std::string &poseName)
	calls m_bodyPoseClient on the poseName, to execute a body pose
void	pubMsg ()
	Publish motion message to Nao.
ros::Subscriber	subscribeToJoystick ()
	Subscribe to joystick using default hander (TeleopNaoJoy::joyCallback).
	TeleopNaoJoy ()
Public Attributes
ros::NodeHandle	nh
ros::NodeHandle	privateNh
Protected Member Functions
bool	axisValid (int axis, const sensor_msgs::Joy::ConstPtr &joy) const
	Check whether an axis id is valid.
bool	buttonChanged (int button, const sensor_msgs::Joy::ConstPtr &joy, const sensor_msgs::Joy::ConstPtr &prevJoy) const
	Returns true when a button has changed compared to previous joystick state.
bool	buttonPressed (int button, const sensor_msgs::Joy::ConstPtr &joy) const
	Returns true when a valid button is pressed.
bool	buttonTriggered (int button, const sensor_msgs::Joy::ConstPtr &joy) const
	Returns true when a valid button is triggered.
bool	inhibitWalk (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
	Inhibit joystick from sending walk commands.
void	initializePreviousJoystick (const sensor_msgs::Joy::ConstPtr &joy)
void	joyCallback (const sensor_msgs::Joy::ConstPtr &joy)
	Callback for joystick messages.
void	setPreviousJoystick (const sensor_msgs::Joy::ConstPtr &joy)
template<class M , class T >
ros::Subscriber	subscribeToJoystick (void(T::fp)(M), T obj)
	Subscribe to joystick using this callback function.
bool	uninhibitWalk (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
	Uninhibit joystick from sending walk commands.
Protected Attributes
actionlib::SimpleActionClient < naoqi_bridge_msgs::BodyPoseAction >	m_bodyPoseClient
ros::Duration	m_bodyPoseTimeOut
ros::ServiceClient	m_cmdVelClient
int	m_crouchBtn
int	m_enableBtn
bool	m_enabled
naoqi_bridge_msgs::JointAnglesWithSpeed	m_headAngles
int	m_headPitchAxis
ros::Publisher	m_headPub
int	m_headYawAxis
int	m_inhibitCounter
ros::ServiceServer	m_inhibitWalkSrv
int	m_initPoseBtn
ros::Subscriber	m_joySub
double	m_maxHeadPitch
double	m_maxHeadYaw
double	m_maxVw
double	m_maxVx
double	m_maxVy
int	m_modifyHeadBtn
geometry_msgs::Twist	m_motion
ros::Publisher	m_moveBtnPub
ros::Publisher	m_movePub
bool	m_prevHeadZero
sensor_msgs::Joy::ConstPtr	m_previousJoystick
bool	m_previousJoystick_initialized
bool	m_prevMotionZero
ros::Publisher	m_speechPub
ros::ServiceClient	m_stiffnessDisableClient
ros::ServiceClient	m_stiffnessEnableClient
int	m_turnAxis
ros::ServiceServer	m_uninhibitWalkSrv
int	m_xAxis
int	m_yAxis

Detailed Description

Nao Teleoperation via Joystick. Ct.

Subscribes to "joy" messages, and remaps them to Nao teleoperation commands.

Definition at line 53 of file teleop_nao_joy.h.

Constructor & Destructor Documentation

nao_teleop::TeleopNaoJoy::TeleopNaoJoy ( )

Definition at line 40 of file teleop_nao_joy.cpp.

Member Function Documentation

bool nao_teleop::TeleopNaoJoy::axisValid	(	int	axis,
		const sensor_msgs::Joy::ConstPtr &	joy
	)		const `[protected]`

Check whether an axis id is valid.

Parameters:

axis
joy

Returns:

Definition at line 259 of file teleop_nao_joy.cpp.

bool nao_teleop::TeleopNaoJoy::buttonChanged	(	int	button,
		const sensor_msgs::Joy::ConstPtr &	joy,
		const sensor_msgs::Joy::ConstPtr &	prevJoy
	)		const `[protected]`

Returns true when a button has changed compared to previous joystick state.

Parameters:

button
joy
prevJoy

Returns:

Definition at line 248 of file teleop_nao_joy.cpp.

bool nao_teleop::TeleopNaoJoy::buttonPressed	(	int	button,
		const sensor_msgs::Joy::ConstPtr &	joy
	)		const `[protected]`

Returns true when a valid button is pressed.

Parameters:

button
joy

Returns:

Definition at line 222 of file teleop_nao_joy.cpp.

bool nao_teleop::TeleopNaoJoy::buttonTriggered	(	int	button,
		const sensor_msgs::Joy::ConstPtr &	joy
	)		const `[protected]`

Returns true when a valid button is triggered.

Parameters:

button
joy

Returns:

Definition at line 233 of file teleop_nao_joy.cpp.

bool nao_teleop::TeleopNaoJoy::callBodyPoseClient ( const std::string & poseName )

calls m_bodyPoseClient on the poseName, to execute a body pose

Returns:: success of actionlib call

Definition at line 98 of file teleop_nao_joy.cpp.

bool nao_teleop::TeleopNaoJoy::inhibitWalk	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[protected]`

Inhibit joystick from sending walk commands.

The teleop_nao node sends walk commands to the robot continuously, even when the joystick is in its zero position. This can disturb motions initiated by other nodes. To stop the teleop_nao node from publishing walk commands, call this service before you execute your own motion commands.

Call the /uninhibit_walk service to enable sending walk commands again.

Definition at line 303 of file teleop_nao_joy.cpp.

void nao_teleop::TeleopNaoJoy::initializePreviousJoystick ( const sensor_msgs::Joy::ConstPtr & joy ) [protected]

Definition at line 118 of file teleop_nao_joy.cpp.

void nao_teleop::TeleopNaoJoy::joyCallback ( const sensor_msgs::Joy::ConstPtr & joy ) [protected]

Callback for joystick messages.

Parameters:

joy

Definition at line 138 of file teleop_nao_joy.cpp.

void nao_teleop::TeleopNaoJoy::pubMsg ( )

Publish motion message to Nao.

Definition at line 266 of file teleop_nao_joy.cpp.