Public Member Functions
void	ControlLoop ()
	Controls the actions and states. More...

	RbcarPad ()

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. More...

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. More...

bool	bOutput1

bool	bOutput2

int	button_dead_man_
	Number of the DEADMAN button. More...

int	button_kinematic_mode_
	button to change kinematic mode More...

int	button_speed_down_

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

std::string	cmd_service_io_
	Name of the service where it will be modifying the digital outputs. More...

std::string	cmd_service_ptz_
	Name of the service to move ptz. More...

std::string	cmd_set_mode_
	Name of the service to change the mode. More...

std::string	cmd_topic_vel
	Name of the topic where it will be publishing the velocity. More...

double	current_speed_lvl

double	desired_freq_
	Desired component's freq. More...

ros::ServiceServer	enable_disable_srv_
	Service clients. More...

std::vector< float >	fAxes
	Vector to save the axis values. More...

ros::Subscriber	joy_sub_
	they will be suscribed to the joysticks More...

std::string	joy_topic_
	// Name of the joystick's topic More...

int	kinematic_mode_
	kinematic mode More...

double	l_scale_

double	max_angular_position_

double	max_freq_command
	Diagnostics max freq. More...

double	max_freq_joy

double	max_linear_speed_
	Set the max speed sent to the robot. More...

double	min_freq_command
	Diagnostics min freq. More...

double	min_freq_joy

ros::NodeHandle	nh_

int	num_of_axes_

int	num_of_buttons_
	Current number of buttons of the joystick. More...

int	output_1_

int	output_2_

ros::NodeHandle	pnh_

int	ptz_pan_left_

int	ptz_pan_right_

int	ptz_tilt_down_

int	ptz_tilt_up_
	buttons to the pan-tilt camera More...

diagnostic_updater::HeaderlessTopicDiagnostic *	pub_command_freq
	Diagnostic to control the frequency of the published command velocity topic. More...

ros::ServiceClient	set_digital_outputs_client_

ros::ServiceClient	setKinematicMode
	Service to modify the kinematic mode. More...

ros::Publisher	state_pub_
	Topic to publish the state. More...

diagnostic_updater::HeaderlessTopicDiagnostic *	sus_joy_freq
	Diagnostic to control the reception frequency of the subscribed joy topic. More...

std::string	topic_state_
	topic name for the state More...

diagnostic_updater::Updater	updater_pad
	General status diagnostic updater. More...

std::vector< Button >	vButtons
	Vector to save and control the axis values. More...

ros::Publisher	vel_pub_
	It will publish into command velocity (for the robot) More...

Detailed Description

Definition at line 109 of file rbcar_pad.cpp.

Constructor & Destructor Documentation

RbcarPad::RbcarPad ( )

Definition at line 203 of file rbcar_pad.cpp.

Member Function Documentation

void RbcarPad::ControlLoop ( )

Controls the actions and states.

Definition at line 350 of file rbcar_pad.cpp.

bool RbcarPad::EnableDisable	(	robotnik_msgs::enable_disable::Request &	req,
		robotnik_msgs::enable_disable::Response &	res
	)

private

Enables/Disables the joystick.

Definition at line 324 of file rbcar_pad.cpp.

void RbcarPad::joyCallback ( const sensor_msgs::Joy::ConstPtr & joy )

private

Definition at line 333 of file rbcar_pad.cpp.

void RbcarPad::PublishState ( )

private

Definition at line 308 of file rbcar_pad.cpp.

int RbcarPad::SetStateMode	(	int	state,
		int	arm_mode,
		int	platform_mode
	)

char* RbcarPad::StateToString ( int state )

private

int RbcarPad::SwitchToState ( int new_state )

private

void RbcarPad::Update ( )

private

Definition at line 302 of file rbcar_pad.cpp.

Member Data Documentation

double RbcarPad::a_scale_

private

Definition at line 132 of file rbcar_pad.cpp.

int RbcarPad::axis_angular_position_

private

Definition at line 131 of file rbcar_pad.cpp.

int RbcarPad::axis_linear_speed_

private

Definition at line 131 of file rbcar_pad.cpp.

bool RbcarPad::bEnable

private

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

Definition at line 200 of file rbcar_pad.cpp.

bool RbcarPad::bOutput1

private

Definition at line 174 of file rbcar_pad.cpp.

bool RbcarPad::bOutput2

private

Definition at line 174 of file rbcar_pad.cpp.

int RbcarPad::button_dead_man_

private

Number of the DEADMAN button.

Definition at line 170 of file rbcar_pad.cpp.

int RbcarPad::button_kinematic_mode_

private

button to change kinematic mode

Definition at line 180 of file rbcar_pad.cpp.

int RbcarPad::button_speed_down_

private

Definition at line 172 of file rbcar_pad.cpp.

int RbcarPad::button_speed_up_

private

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

Definition at line 172 of file rbcar_pad.cpp.

std::string RbcarPad::cmd_service_io_

private

Name of the service where it will be modifying the digital outputs.

Definition at line 149 of file rbcar_pad.cpp.

std::string RbcarPad::cmd_service_ptz_

private

Name of the service to move ptz.

Definition at line 178 of file rbcar_pad.cpp.

std::string RbcarPad::cmd_set_mode_

private

Name of the service to change the mode.

Definition at line 186 of file rbcar_pad.cpp.

std::string RbcarPad::cmd_topic_vel

private

Name of the topic where it will be publishing the velocity.

Definition at line 147 of file rbcar_pad.cpp.

double RbcarPad::current_speed_lvl

private

Definition at line 133 of file rbcar_pad.cpp.

double RbcarPad::desired_freq_

private

Desired component's freq.

Definition at line 137 of file rbcar_pad.cpp.

ros::ServiceServer RbcarPad::enable_disable_srv_

private

Service clients.

Definition at line 157 of file rbcar_pad.cpp.

std::vector<float> RbcarPad::fAxes

private

Vector to save the axis values.

Definition at line 166 of file rbcar_pad.cpp.

ros::Subscriber RbcarPad::joy_sub_

private

they will be suscribed to the joysticks

Definition at line 143 of file rbcar_pad.cpp.

std::string RbcarPad::joy_topic_

private

// Name of the joystick's topic

Definition at line 145 of file rbcar_pad.cpp.

int RbcarPad::kinematic_mode_

private

kinematic mode

Definition at line 182 of file rbcar_pad.cpp.

double RbcarPad::l_scale_

private

Definition at line 132 of file rbcar_pad.cpp.

double RbcarPad::max_angular_position_

private

Definition at line 135 of file rbcar_pad.cpp.

double RbcarPad::max_freq_command

private

Diagnostics max freq.

Definition at line 198 of file rbcar_pad.cpp.

double RbcarPad::max_freq_joy

private

Definition at line 198 of file rbcar_pad.cpp.

double RbcarPad::max_linear_speed_

private

Set the max speed sent to the robot.

Definition at line 135 of file rbcar_pad.cpp.

double RbcarPad::min_freq_command

private

Diagnostics min freq.

Definition at line 196 of file rbcar_pad.cpp.

double RbcarPad::min_freq_joy

private

Definition at line 196 of file rbcar_pad.cpp.

ros::NodeHandle RbcarPad::nh_

private

Definition at line 129 of file rbcar_pad.cpp.

int RbcarPad::num_of_axes_

private

Definition at line 163 of file rbcar_pad.cpp.

int RbcarPad::num_of_buttons_

private

Current number of buttons of the joystick.

Definition at line 162 of file rbcar_pad.cpp.

int RbcarPad::output_1_

private

Definition at line 173 of file rbcar_pad.cpp.

int RbcarPad::output_2_

private

Definition at line 173 of file rbcar_pad.cpp.

ros::NodeHandle RbcarPad::pnh_

private

Definition at line 129 of file rbcar_pad.cpp.

int RbcarPad::ptz_pan_left_

private

Definition at line 176 of file rbcar_pad.cpp.

int RbcarPad::ptz_pan_right_

private

Definition at line 176 of file rbcar_pad.cpp.

int RbcarPad::ptz_tilt_down_

private

Definition at line 176 of file rbcar_pad.cpp.

int RbcarPad::ptz_tilt_up_

private

buttons to the pan-tilt camera

Definition at line 176 of file rbcar_pad.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* RbcarPad::pub_command_freq

private

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

Definition at line 190 of file rbcar_pad.cpp.

ros::ServiceClient RbcarPad::set_digital_outputs_client_

private

Definition at line 158 of file rbcar_pad.cpp.

ros::ServiceClient RbcarPad::setKinematicMode

private

Service to modify the kinematic mode.

Definition at line 184 of file rbcar_pad.cpp.

ros::Publisher RbcarPad::state_pub_

private

Topic to publish the state.

Definition at line 153 of file rbcar_pad.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* RbcarPad::sus_joy_freq

private

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

Definition at line 192 of file rbcar_pad.cpp.

std::string RbcarPad::topic_state_

private

topic name for the state

Definition at line 151 of file rbcar_pad.cpp.

diagnostic_updater::Updater RbcarPad::updater_pad

private

General status diagnostic updater.

Definition at line 194 of file rbcar_pad.cpp.

std::vector<Button> RbcarPad::vButtons

private

Vector to save and control the axis values.

Definition at line 168 of file rbcar_pad.cpp.

ros::Publisher RbcarPad::vel_pub_

private

It will publish into command velocity (for the robot)

Definition at line 141 of file rbcar_pad.cpp.

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

rbcar_pad.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation