cob_teleop.cpp

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#include <cstdlib>
#include <cstdio>
#include <unistd.h>
#include <XmlRpcValue.h>
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <sensor_msgs/JointState.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <geometry_msgs/Twist.h>

#include <cob_srvs/Trigger.h>
#include <brics_actuator/JointPositions.h>
#include <brics_actuator/JointVelocities.h>

const int PUBLISH_FREQ = 100.0;

class TeleopCOB
{
public:
        struct joint_module{
                std::string key;
                std::vector<std::string> joint_names;
                std::vector<double> req_joint_pos_;
                std::vector<double> req_joint_vel_;
                std::vector<double> steps;
                ros::Publisher module_publisher_;
                ros::Publisher module_publisher_brics_;
        };

        std::map<std::string,joint_module> joint_modules_; //std::vector<std::string> module_names;

        struct base_module_struct{
                std::vector<double> req_vel_;
                std::vector<double> vel_old_; //,vy_old_,vth_old_;
                std::vector<double> max_vel_; //max_vx_,max_vy_,max_vth_;
                std::vector<double> max_acc_; //max_ax_,max_ay_,max_ath_;
                ros::Publisher base_publisher_;
                ros::Publisher base_safety_publisher_;
        } base_module_;

        bool has_base_module_;

        int lower_neck_button_,upper_neck_button_; //buttons
        int tray_button_;
        int axis_vx_,axis_vy_,axis_vth_;
        int arm_joint12_button_;
        int arm_joint34_button_;
        int arm_joint56_button_;
        int arm_joint7_button_;
        //signs
        int up_down_, left_right_;   //sign for movements of upper_neck and tray

        //common
        int deadman_button_, run_button_, base_safety_button_, stop_base_button_, recover_base_button_;
        bool joy_active_, stopped_, base_safety_;
        double run_factor_, run_factor_param_;


        ros::NodeHandle n_;
        ros::Subscriber joy_sub_;  //subscribe topic joy
        ros::Subscriber joint_states_sub_;  //subscribe topic joint_states

        bool got_init_values_;
        double time_for_init_;

        struct combined_joints_struct{
                std::vector<std::string> joint_names_;
                std::vector<double> joint_init_values_;
                std::vector<joint_module*> module_ref_;
        }combined_joints_;
        std::vector<std::string> joint_names_;
        std::vector<double> joint_init_values_;

        TeleopCOB();
        void getConfigurationFromParameters();
        void init();
        void joy_cb(const sensor_msgs::Joy::ConstPtr &joy_msg);
        void joint_states_cb(const sensor_msgs::JointState::ConstPtr &joint_states_msg);
        void update();
        void update_joint_modules();
        void update_base();
        void setInitValues();
        ~TeleopCOB();

private:
        bool assign_joint_module(std::string,XmlRpc::XmlRpcValue);
        bool assign_base_module(XmlRpc::XmlRpcValue);
};

void TeleopCOB::getConfigurationFromParameters()
{
        //std::map<std::string,joint_module> joint_modules; //std::vector<std::string> module_names;
        if(n_.hasParam("modules"))
        {
                XmlRpc::XmlRpcValue modules;
                ROS_DEBUG("modules found ");
                n_.getParam("modules", modules);
                if(modules.getType() == XmlRpc::XmlRpcValue::TypeStruct)
                {
                        ROS_DEBUG("modules are of type struct with size %d",(int)modules.size());

                        for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=modules.begin();p!=modules.end();++p)
                        {
                                std::string mod_name = p->first;
                                ROS_DEBUG("module name: %s",mod_name.c_str());
                                XmlRpc::XmlRpcValue mod_struct = p->second;
                                if(mod_struct.getType() != XmlRpc::XmlRpcValue::TypeStruct)
                                        ROS_WARN("invalid module, name: %s",mod_name.c_str());
                                // search for joint_name parameter in current module struct to determine which type of module
                                // only joint mods or wheel mods supported
                                // which mens that is no joint names are found, then the module is a wheel module
                                // TODO replace with build in find, but could not get it to work
                                if(!assign_joint_module(mod_name, mod_struct))
                                {
                                        // add wheel module struct
                                        ROS_DEBUG("wheel module found");
                                        assign_base_module(mod_struct);
                                }
                        }
                }
        }
}

bool TeleopCOB::assign_joint_module(std::string mod_name, XmlRpc::XmlRpcValue mod_struct)
{
        // search for joint_name parameter in current module struct to determine which type of module
        // only joint mods or wheel mods supported
        // which mens that is no joint names are found, then the module is a wheel module
        // TODO replace with build in find, but could not get it to work
        bool is_joint_module = false;
        joint_module tempModule;
        for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator ps=mod_struct.begin();ps!=mod_struct.end();++ps)
        {
                std::string par_name = ps->first;
                ROS_DEBUG("par name: %s",par_name.c_str());

                if(par_name.compare("joint_names")==0)
                {
                        ROS_DEBUG("joint names found");
                        XmlRpc::XmlRpcValue joint_names = ps->second;

                        ROS_ASSERT(joint_names.getType() == XmlRpc::XmlRpcValue::TypeArray);
                        ROS_DEBUG("joint_names.size: %d \n", joint_names.size());
                        for(int i=0;i<joint_names.size();i++)
                        {
                                ROS_ASSERT(joint_names[i].getType() == XmlRpc::XmlRpcValue::TypeString);
                                std::string s((std::string)joint_names[i]);
                                ROS_DEBUG("joint_name found = %s",s.c_str());
                                tempModule.joint_names.push_back(s);
                        }
                        // set size of other vectors according to the joint name vector
                        tempModule.req_joint_pos_.resize(joint_names.size());
                        tempModule.req_joint_vel_.resize(joint_names.size());

                        is_joint_module = true;
                        //break; // no need to continue searching if joint names are found
                }else if(par_name.compare("joint_step")==0){
                        ROS_DEBUG("joint steps found");
                        XmlRpc::XmlRpcValue joint_steps = ps->second;

                        ROS_ASSERT(joint_steps.getType() == XmlRpc::XmlRpcValue::TypeArray);
                        ROS_DEBUG("joint_steps.size: %d \n", joint_steps.size());
                        for(int i=0;i<joint_steps.size();i++)
                        {
                                ROS_ASSERT(joint_steps[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
                                double step((double)joint_steps[i]);
                                ROS_DEBUG("joint_step found = %f",step);
                                tempModule.steps.push_back(step);
                        }
                }
        }
        if(is_joint_module)
        {
                // assign publisher
                tempModule.module_publisher_ = n_.advertise<trajectory_msgs::JointTrajectory>(("/"+mod_name+"_controller/command"),1);
                tempModule.module_publisher_brics_ = n_.advertise<brics_actuator::JointVelocities>(("/"+mod_name+"_controller/command_vel"),1);
                // store joint module in collection
                ROS_DEBUG("head module stored");
                joint_modules_.insert(std::pair<std::string,joint_module>(mod_name,tempModule));
        }
        return is_joint_module;
}
bool TeleopCOB::assign_base_module(XmlRpc::XmlRpcValue mod_struct)
{
        for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator ps=mod_struct.begin();ps!=mod_struct.end();++ps)
        {
                std::string par_name = ps->first;
                ROS_DEBUG("par name: %s",par_name.c_str());

                if(par_name.compare("max_velocity")==0)
                {
                        ROS_DEBUG("max vel found");
                        XmlRpc::XmlRpcValue max_vel = ps->second;

                        ROS_ASSERT(max_vel.getType() == XmlRpc::XmlRpcValue::TypeArray);
                        if(max_vel.size()!=3){ROS_WARN("invalid base parameter size");}
                        ROS_DEBUG("max_vel.size: %d \n", max_vel.size());
                        for(int i=0;i<max_vel.size();i++)
                        {
                                ROS_ASSERT(max_vel[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
                                double val = (double)max_vel[i];
                                ROS_DEBUG("max vel value = %f",val);
                                base_module_.max_vel_.push_back(val);
                        }
                }
                else if(par_name.compare("max_acceleration")==0)
                {
                        ROS_DEBUG("max acc found");
                        XmlRpc::XmlRpcValue max_acc = ps->second;

                        ROS_ASSERT(max_acc.getType() == XmlRpc::XmlRpcValue::TypeArray);
                        if(max_acc.size()!=3){ROS_DEBUG("invalid base parameter size");}
                        ROS_DEBUG("max_acc.size: %d \n", max_acc.size());
                        for(int i=0;i<max_acc.size();i++)
                        {
                                ROS_ASSERT(max_acc[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
                                double val = (double)max_acc[i];
                                ROS_DEBUG("max acc value = %f", val);
                                base_module_.max_acc_.push_back(val);
                        }
                }
                else
                {
                        ROS_WARN("unsupported base module parameter read");
                }
        }
        // make all the vectors the same length
        // the vector size is not completely safe since only warning is
        // issued if max value arrays has the wrong length
        base_module_.req_vel_.resize(base_module_.max_acc_.size());
        base_module_.vel_old_.resize(base_module_.max_acc_.size());
        base_module_.base_publisher_ = n_.advertise<geometry_msgs::Twist>("/cmd_vel",1);
        base_module_.base_safety_publisher_ = n_.advertise<geometry_msgs::Twist>("/cmd_vel_safety",1);
        ROS_DEBUG("base module stored");
        has_base_module_ = true;
        return true;
}

TeleopCOB::TeleopCOB()
{
        getConfigurationFromParameters(); // assign configuration and subscribe to topics
        got_init_values_ = false;
        time_for_init_ = 0.0;
        joy_active_ = false;
        run_factor_ = 1.0;

        // add all found joint names to joint_names_vector, which is used to pass values to the state aggregator
        for(std::map<std::string,joint_module>::iterator module_it=joint_modules_.begin();module_it!=joint_modules_.end();++module_it){
                std::vector<std::string> names = (module_it->second).joint_names;
                for(unsigned int i=0; i<names.size();i++){
                        joint_names_.push_back(names[i]);
                        combined_joints_.joint_names_.push_back(names[i]); // puch joit name to combined collection
                        combined_joints_.joint_init_values_.push_back(0.0); // be sure that a init value is related to the joint name
                        combined_joints_.module_ref_.push_back((joint_module*)(&(module_it->second))); // store a reference to the module containing the joint
                }
        }
        joint_init_values_.resize(joint_names_.size());
}

TeleopCOB::~TeleopCOB()
{
}

void TeleopCOB::init()
{
        // common
        n_.param("run_factor",run_factor_param_,1.5);

        // assign buttons
        n_.param("lower_neck_button",lower_neck_button_,6);
        n_.param("upper_neck_button",upper_neck_button_,4);
        n_.param("tray_button",tray_button_,3);
        n_.param("arm_joint12_button",arm_joint12_button_,0);
        n_.param("arm_joint34_button",arm_joint34_button_,1);
        n_.param("arm_joint56_button",arm_joint56_button_,2);
        n_.param("arm_joint7_button",arm_joint7_button_,3);
        n_.param("deadman_button",deadman_button_,5);
        n_.param("run_button",run_button_,7);
        n_.param("base_safety_button",base_safety_button_,4);
        n_.param("stop_base_button",stop_base_button_,8);
        n_.param("recover_base_button",recover_base_button_,9);

        // assign axis
        n_.param("axis_vx",axis_vx_,1);
        n_.param("axis_vy",axis_vy_,0);
        n_.param("axis_vth",axis_vth_,2);
        n_.param("up_down",up_down_,5); //axis[5] tray--up/down; tilt--front/back, here we just name up_down
        n_.param("left_right",left_right_,4);  //axis[4] pan--left/right

        // output for debugging
        ROS_DEBUG("init::lower_neck_button: %d",lower_neck_button_);
        ROS_DEBUG("init::upper_neck_button: %d",upper_neck_button_);
        ROS_DEBUG("init::tray_button: %d",tray_button_);
        ROS_DEBUG("init::arm_joint12_button: %d",arm_joint12_button_);
        ROS_DEBUG("init::arm_joint34_button: %d",arm_joint34_button_);
        ROS_DEBUG("init::arm_joint56_button: %d",arm_joint56_button_);
        ROS_DEBUG("init::arm_joint7_button: %d",arm_joint7_button_);
        ROS_DEBUG("init::deadman_button: %d",deadman_button_);
        ROS_DEBUG("init::run_button: %d",run_button_);
        ROS_DEBUG("init::stop_base_button: %d",stop_base_button_);
        ROS_DEBUG("init::recover_base_button: %d",recover_base_button_);

        ROS_DEBUG("init::axis_vx: %d",axis_vx_);
        ROS_DEBUG("init::axis_vy: %d",axis_vy_);
        ROS_DEBUG("init::axis_vth: %d",axis_vth_);
        ROS_DEBUG("init::up_down: %d",up_down_);
        ROS_DEBUG("init::left_right: %d",left_right_);

        // TODO general!!!
        joy_sub_ = n_.subscribe("/joy",1,&TeleopCOB::joy_cb,this);
        joint_states_sub_ = n_.subscribe("/joint_states",1,&TeleopCOB::joint_states_cb,this);
}

void TeleopCOB::setInitValues()
{

        // loop trough all the joints in the combined collection
        for(unsigned int i=0; i<combined_joints_.joint_init_values_.size();i++){
                //loop trough all the joints in module containing joint settings,
                //and try to find the one with a name matching the currently browsed joint
                //in the combined collection
                for(unsigned int j=0; j<combined_joints_.module_ref_[i]->joint_names.size();j++){
                        // if the matching joint is found, assign value to pos command and stop looking for this name
                        if(combined_joints_.module_ref_[i]->joint_names[j].compare(combined_joints_.joint_names_[i])==0){
                                combined_joints_.module_ref_[i]->req_joint_pos_[j] = combined_joints_.joint_init_values_[i];
                                combined_joints_.module_ref_[i]->req_joint_vel_[j] = 0.0; // initalize velocity cmd to 0
                                break; // node found, break the search
                        }
                }
        }

        // base init values (velocities) are already set to 0 by default

        got_init_values_ = true;
}

void TeleopCOB::joint_states_cb(const sensor_msgs::JointState::ConstPtr &joint_states_msg)
{
        if (!got_init_values_ && stopped_ && joy_active_)
        {
                ROS_DEBUG("joint_states_cb: getting init values");
                for (unsigned int j = 0; j<joint_names_.size(); j++ )
                {
                        for (unsigned int i = 0; i<joint_states_msg->name.size(); i++ )
                        {
                                ROS_DEBUG("joint names in init: %s should match %s",joint_names_[j].c_str(),joint_states_msg->name[i].c_str());
                                if (joint_states_msg->name[i] == joint_names_[j])
                                {
                                        joint_init_values_[j] = joint_states_msg->position[i];
                                        if(joint_names_[j]!=combined_joints_.joint_names_[j])
                                                ROS_ERROR("error in new joint name collection, name miss match.");
                                        combined_joints_.joint_init_values_[j] = joint_states_msg->position[i]; //new
                                        ROS_DEBUG("joint %s found. init value = %f",joint_names_[j].c_str(),joint_init_values_[j]);
                                        break;
                                }
                        }
                }
                setInitValues();
        }
}

void TeleopCOB::joy_cb(const sensor_msgs::Joy::ConstPtr &joy_msg)
{
        // deadman button to activate joystick
        if(deadman_button_>=0 && deadman_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[deadman_button_]==1)
        {
                if (!joy_active_)
                {
                        ROS_INFO("joystick is active");
                        joy_active_ = true;
                        got_init_values_ = false;
                }
        }
        else
        {
                ROS_DEBUG("joystick is not active");
                joy_active_ = false;
                return;
        }

        // run button
        if(run_button_>=0 && run_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[run_button_]==1)
        {
                run_factor_ = run_factor_param_;
        }
        else //button release
        {
                run_factor_ = 1.0;
        }
        
        // base safety button
        if(base_safety_button_>=0 && base_safety_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[base_safety_button_]==1)
        {
                base_safety_ = false;
        }
        else //button release
        {
                base_safety_ = true;
        }
        
        // recover base button
        if(recover_base_button_>=0 && recover_base_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[recover_base_button_]==1)
        {
                ros::ServiceClient client_init_base = n_.serviceClient<cob_srvs::Trigger>("/base_controller/init");
        
                ROS_INFO("Init base");
                cob_srvs::Trigger srv = cob_srvs::Trigger();
                if (client_init_base.call(srv))
                {
                        ROS_INFO("Base init successfully");
                }
                else
                {
                        ROS_ERROR("Failed to call service /base_controller/init");
                }
                
                ros::ServiceClient client_recover_base = n_.serviceClient<cob_srvs::Trigger>("/base_controller/recover");
        
                ROS_INFO("Recover base");
                if (client_recover_base.call(srv))
                {
                        ROS_INFO("Base recovered successfully");
                }
                else
                {
                        ROS_ERROR("Failed to call service /base_controller/recover");
                }
        }
        
        // stop base button
        if(stop_base_button_>=0 && stop_base_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[stop_base_button_]==1)
        {
                ros::ServiceClient client_stop_base = n_.serviceClient<cob_srvs::Trigger>("/base_controller/stop");
        
                ROS_INFO("Stop base");
                cob_srvs::Trigger srv = cob_srvs::Trigger();
                if (client_stop_base.call(srv))
                {
                        ROS_INFO("Base stop successfully");
                }
                else
                {
                        ROS_ERROR("Failed to call service /base_controller/stop");
                }
        }

        // TODO add map for buttons

        // head
        if(joint_modules_.find("head")!=joint_modules_.end())
        {
                if(upper_neck_button_>=0 &&
                                upper_neck_button_<(int)joy_msg->buttons.size() &&
                                joy_msg->buttons[upper_neck_button_]==1)
                {
                        //pan (turn)
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                                joint_modules_["head"].req_joint_vel_[0] = (int)joy_msg->buttons[upper_neck_button_]*joint_modules_["head"].steps[0]*run_factor_;//upper_pan_step_*run_factor_;
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                                joint_modules_["head"].req_joint_vel_[0] = -1*(int)joy_msg->buttons[upper_neck_button_]*joint_modules_["head"].steps[0]*run_factor_;//upper_pan_step_*run_factor_;
                        else
                                joint_modules_["head"].req_joint_vel_[0]= 0.0;
                        ROS_DEBUG("cb::upper neck pan velocity: %f",joint_modules_["head"].req_joint_vel_[0]);

                        //tilt (nod)
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["head"].req_joint_vel_[1] = -1*(int)joy_msg->buttons[upper_neck_button_]*joint_modules_["head"].steps[1]*run_factor_;//upper_tilt_step_*run_factor_;
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["head"].req_joint_vel_[1] = (int)joy_msg->buttons[upper_neck_button_]*joint_modules_["head"].steps[1]*run_factor_;//upper_tilt_step_*run_factor_;
                        else
                                joint_modules_["head"].req_joint_vel_[1] = 0.0;
                        ROS_DEBUG("cb::upper neck tilt velocity: %f",joint_modules_["head"].req_joint_vel_[1]);

                }
                else
                {
                        joint_modules_["head"].req_joint_vel_[0] = 0.0;
                        joint_modules_["head"].req_joint_vel_[1] = 0.0;
                }
        }
        if(joint_modules_.find("torso")!=joint_modules_.end())
        {
                // torso TODO update with general as well
                //lower neck
                if(lower_neck_button_>=0 &&
                                lower_neck_button_<(int)joy_msg->buttons.size() &&
                                joy_msg->buttons[lower_neck_button_]==1)
                {
                        //pan
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                                joint_modules_["torso"].req_joint_vel_[0] = (int)joy_msg->buttons[lower_neck_button_]*joint_modules_["torso"].steps[0]*run_factor_; //req_lower_pan_vel_
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                                joint_modules_["torso"].req_joint_vel_[0] = -1*(int)joy_msg->buttons[lower_neck_button_]*joint_modules_["torso"].steps[0]*run_factor_; //req_lower_pan_vel_
                        else
                                joint_modules_["torso"].req_joint_vel_[0] = 0.0;
                        ROS_DEBUG("cb::lower neck pan velocity: %f",joint_modules_["torso"].req_joint_vel_[0]);

                        //tilt
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["torso"].req_joint_vel_[1] = (int)joy_msg->buttons[lower_neck_button_]*joint_modules_["torso"].steps[1]*run_factor_; //req_lower_tilt_vel_
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["torso"].req_joint_vel_[1] = -1*(int)joy_msg->buttons[lower_neck_button_]*joint_modules_["torso"].steps[1]*run_factor_;
                        else
                                joint_modules_["torso"].req_joint_vel_[1] = 0.0;
                        ROS_DEBUG("cb::lower neck tilt velocity: %f",joint_modules_["torso"].req_joint_vel_[1]);
                }
                else //button release
                {
                        joint_modules_["torso"].req_joint_vel_[0] = 0.0;
                        joint_modules_["torso"].req_joint_vel_[1] = 0.0;
                }

                //upper neck
                if(upper_neck_button_>=0 &&
                                upper_neck_button_<(int)joy_msg->buttons.size() &&
                                joy_msg->buttons[upper_neck_button_]==1)
                {
                        //pan
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                                joint_modules_["torso"].req_joint_vel_[2] = (int)joy_msg->buttons[upper_neck_button_]*joint_modules_["torso"].steps[2]*run_factor_;
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                                joint_modules_["torso"].req_joint_vel_[2] = -1*(int)joy_msg->buttons[upper_neck_button_]*joint_modules_["torso"].steps[2]*run_factor_;
                        else
                                joint_modules_["torso"].req_joint_vel_[2] = 0.0;
                        ROS_DEBUG("cb::upper neck pan velocity: %f",joint_modules_["torso"].req_joint_vel_[2]);

                        //tilt
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["torso"].req_joint_vel_[3] = (int)joy_msg->buttons[upper_neck_button_]*joint_modules_["torso"].steps[3]*run_factor_;
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["torso"].req_joint_vel_[3] = -1*(int)joy_msg->buttons[upper_neck_button_]*joint_modules_["torso"].steps[3]*run_factor_;
                        else
                                joint_modules_["torso"].req_joint_vel_[3] = 0.0;
                        ROS_DEBUG("cb::upper neck tilt velocity: %f",joint_modules_["torso"].req_joint_vel_[3]);
                }
                else //button release
                {
                        joint_modules_["torso"].req_joint_vel_[2] = 0.0;
                        joint_modules_["torso"].req_joint_vel_[3] = 0.0;
                }
        }

        if(joint_modules_.find("tray")!=joint_modules_.end())
        {
                //tray
                if(tray_button_>=0 && tray_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[tray_button_]==1)
                {
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["tray"].req_joint_vel_[0] = (int)joy_msg->buttons[tray_button_]*joint_modules_["tray"].steps[0]*run_factor_;
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["tray"].req_joint_vel_[0] = -1*(int)joy_msg->buttons[tray_button_]*joint_modules_["tray"].steps[0]*run_factor_;
                        else
                                joint_modules_["tray"].req_joint_vel_[0] = 0.0;
                        ROS_DEBUG("cb::tray velocity: %f",joint_modules_["tray"].req_joint_vel_[0]);
                }
                else //button release
                {
                        joint_modules_["tray"].req_joint_vel_[0] = 0.0;
                }
        }
        if(joint_modules_.find("arm")!=joint_modules_.end())
        {
                //arm
                //publish_arm_ = false;

                //joint12
                if(joint_modules_["arm"].req_joint_vel_.size()>1 && arm_joint12_button_>=0 && arm_joint12_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[arm_joint12_button_]==1)
                {
                        //joint 1 left or right
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                                joint_modules_["arm"].req_joint_vel_[0] = -1*(int)joy_msg->buttons[arm_joint12_button_]*joint_modules_["arm"].steps[0]*run_factor_;
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                                joint_modules_["arm"].req_joint_vel_[0] = (int)joy_msg->buttons[arm_joint12_button_]*joint_modules_["arm"].steps[0]*run_factor_;
                        else
                                joint_modules_["arm"].req_joint_vel_[0] = 0.0;
                        ROS_DEBUG("cb::arm joint1 velocity: %f",joint_modules_["arm"].req_joint_vel_[0]);

                        //joint 2 up or down
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["arm"].req_joint_vel_[1] = (int)joy_msg->buttons[arm_joint12_button_]*joint_modules_["arm"].steps[1]*run_factor_;
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["arm"].req_joint_vel_[1] = -1*(int)joy_msg->buttons[arm_joint12_button_]*joint_modules_["arm"].steps[1]*run_factor_;
                        else
                                joint_modules_["arm"].req_joint_vel_[1] = 0.0;
                        ROS_DEBUG("cb::arm joint2 velocity: %f",joint_modules_["arm"].req_joint_vel_[1]);
                        //publish_arm_ = true;
                }
                else //button release
                {
                        joint_modules_["arm"].req_joint_vel_[0] = 0.0;
                        joint_modules_["arm"].req_joint_vel_[1] = 0.0;
                } //arm_joint12

                //joint34
                if(joint_modules_["arm"].req_joint_vel_.size()>3 && arm_joint34_button_>=0 && arm_joint34_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[arm_joint34_button_]==1)
                {
                        //joint 3 left or right
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                                joint_modules_["arm"].req_joint_vel_[2] = -1*(int)joy_msg->buttons[arm_joint34_button_]*joint_modules_["arm"].steps[2]*run_factor_;
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                                joint_modules_["arm"].req_joint_vel_[2] = (int)joy_msg->buttons[arm_joint34_button_]*joint_modules_["arm"].steps[2]*run_factor_;
                        else
                                joint_modules_["arm"].req_joint_vel_[2] = 0.0;
                        ROS_DEBUG("cb::arm joint3 velocity: %f",joint_modules_["arm"].req_joint_vel_[2]);

                        //joint 4 up or down
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["arm"].req_joint_vel_[3] = (int)joy_msg->buttons[arm_joint34_button_]*joint_modules_["arm"].steps[3]*run_factor_;
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["arm"].req_joint_vel_[3] = -1*(int)joy_msg->buttons[arm_joint34_button_]*joint_modules_["arm"].steps[3]*run_factor_;
                        else
                                joint_modules_["arm"].req_joint_vel_[3] = 0.0;
                        ROS_DEBUG("cb::arm joint4 velocity: %f",joint_modules_["arm"].req_joint_vel_[3]);
                        //publish_arm_ = true;
                }
                else //button release
                {
                        joint_modules_["arm"].req_joint_vel_[2] = 0.0;
                        joint_modules_["arm"].req_joint_vel_[3] = 0.0;
                } //arm_joint34

                //joint56
                if(joint_modules_["arm"].req_joint_vel_.size()>4 && arm_joint56_button_>=0 && arm_joint56_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[arm_joint56_button_]==1)
                {
                        //joint 5 left or right
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                                joint_modules_["arm"].req_joint_vel_[4] = -1*(int)joy_msg->buttons[arm_joint56_button_]*joint_modules_["arm"].steps[4]*run_factor_;
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                                joint_modules_["arm"].req_joint_vel_[4] = (int)joy_msg->buttons[arm_joint56_button_]*joint_modules_["arm"].steps[4]*run_factor_;
                        else
                                joint_modules_["arm"].req_joint_vel_[4] = 0.0;
                        ROS_DEBUG("cb::arm joint5 velocity: %f",joint_modules_["arm"].req_joint_vel_[4]);

                        //joint 6 up or down
                        if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]>0.0)
                                joint_modules_["arm"].req_joint_vel_[5] = (int)joy_msg->buttons[arm_joint56_button_]*joint_modules_["arm"].steps[5]*run_factor_;
                        else if(up_down_>=0 && up_down_<(int)joy_msg->axes.size() && joy_msg->axes[up_down_]<0.0)
                                joint_modules_["arm"].req_joint_vel_[5] = -1*(int)joy_msg->buttons[arm_joint56_button_]*joint_modules_["arm"].steps[5]*run_factor_;
                        else
                                joint_modules_["arm"].req_joint_vel_[5] = 0.0;
                        ROS_DEBUG("cb::arm joint6 velocity: %f",joint_modules_["arm"].req_joint_vel_[5]);
                        //publish_arm_ = true;
                }
                else //button release
                {
                        joint_modules_["arm"].req_joint_vel_[4] = 0.0;
                        joint_modules_["arm"].req_joint_vel_[5] = 0.0;
                } //arm_joint56

                //joint7
                if(joint_modules_["arm"].req_joint_vel_.size()>5 && arm_joint7_button_>=0 && arm_joint7_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[arm_joint7_button_]==1)
                {
                        //joint 7 left or right
                        if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]<0.0)
                        {
                                joint_modules_["arm"].req_joint_vel_[6] = -1*(int)joy_msg->buttons[arm_joint7_button_]*joint_modules_["arm"].steps[6]*run_factor_;
                                //publish_arm_ = true;
                        }
                        else if(left_right_>=0 && left_right_<(int)joy_msg->axes.size() && joy_msg->axes[left_right_]>0.0)
                        {
                                joint_modules_["arm"].req_joint_vel_[6] = (int)joy_msg->buttons[arm_joint7_button_]*joint_modules_["arm"].steps[6]*run_factor_;
                                //publish_arm_ = true;
                        }
                        else
                                joint_modules_["arm"].req_joint_vel_[6] = 0.0;
                        ROS_DEBUG("cb::arm joint7 velocity: %f",joint_modules_["arm"].req_joint_vel_[6]);
                }
                else //button release
                {
                        joint_modules_["arm"].req_joint_vel_[6] = 0.0;
                } //arm_joint7
        }
        //================base================
        if(has_base_module_ && base_module_.req_vel_.size()==3)
        {
                if(axis_vx_>=0 && axis_vx_<(int)joy_msg->axes.size())
                        base_module_.req_vel_[0] = joy_msg->axes[axis_vx_]*base_module_.max_vel_[0]*run_factor_;
                else
                        base_module_.req_vel_[0] = 0.0;

                if(axis_vy_>=0 && axis_vy_<(int)joy_msg->axes.size())
                        base_module_.req_vel_[1] = joy_msg->axes[axis_vy_]*base_module_.max_vel_[1]*run_factor_;//req_vy_ = joy_msg->axes[axis_vy_]*max_vy_*run_factor_;
                else
                        base_module_.req_vel_[1] = 0.0; //req_vy_ = 0.0;

                if(axis_vth_>=0 && axis_vth_<(int)joy_msg->axes.size())
                        base_module_.req_vel_[2] = joy_msg->axes[axis_vth_]*base_module_.max_vel_[2]*run_factor_;//req_vth_ = joy_msg->axes[axis_vth_]*max_vth_*run_factor_;
                else
                        base_module_.req_vel_[2] = 0.0; //req_vth_ = 0.0;
        }

}//joy_cb

void TeleopCOB::update()
{
        if (!joy_active_)
        {
                if (!stopped_)
                {
                        // stop components: send zero for one time
                        for(std::map<std::string,joint_module>::iterator module_it=joint_modules_.begin();module_it!=joint_modules_.end();++module_it)
                        {
                                for(unsigned int i=0; i<module_it->second.req_joint_vel_.size();i++)
                                {
                                        module_it->second.req_joint_vel_[i] = 0.0;
                                }
                        }

                        if(has_base_module_)
                        {
                                for(unsigned int i=0; i<3; i++){
                                        base_module_.req_vel_[i]=0;
                                        base_module_.vel_old_[i]=0;
                                }
                        }

                        update_joint_modules();
                        update_base();
                        stopped_ = true;
                        ROS_INFO("stopped all components");
                }
                return;
        }

        // set initial values
        if(!got_init_values_)
        {
                if (time_for_init_ < 1.0) // wait for 1 sec, then set init values to 0.0
                {
                        ROS_DEBUG("still waiting for initial values, time_for_init_ = %f",time_for_init_);
                        time_for_init_ = time_for_init_ + 1.0/PUBLISH_FREQ;
                        return;
                }
                else
                {
                        ROS_WARN("Timeout waiting for /joint_states message. Setting all init values to 0.0");
                        setInitValues();
                }
        }

        update_joint_modules();
        update_base();
        stopped_ = false;
}

void TeleopCOB::update_joint_modules()
{
        double dt = 1.0/double(PUBLISH_FREQ);
        double horizon = 3.0*dt;

        joint_module* jointModule;
        for(std::map<std::string,joint_module>::iterator it = joint_modules_.begin();it!=joint_modules_.end();++it)
        {
                jointModule = (joint_module*)(&(it->second));

                trajectory_msgs::JointTrajectory traj;
                traj.header.stamp = ros::Time::now()+ros::Duration(0.01);
                traj.points.resize(1);
                brics_actuator::JointVelocities cmd_vel;
                brics_actuator::JointValue joint_vel;
                joint_vel.timeStamp = traj.header.stamp;
                joint_vel.unit = "rad";
                for(unsigned int i = 0; i<jointModule->joint_names.size();i++)
                {
                        // as trajectory message
                        traj.joint_names.push_back(jointModule->joint_names[i]);
                        traj.points[0].positions.push_back(jointModule->req_joint_pos_[i] + jointModule->req_joint_vel_[i]*horizon);
                        traj.points[0].velocities.push_back(jointModule->req_joint_vel_[i]);  //lower_neck_pan
                        // as brics message
                        joint_vel.value = jointModule->req_joint_vel_[i];
                        joint_vel.joint_uri = jointModule->joint_names[i];
                        cmd_vel.velocities.push_back(joint_vel);
                        // update current positions
                        jointModule->req_joint_pos_[i] += jointModule->req_joint_vel_[i]*horizon;
                }

                traj.points[0].time_from_start = ros::Duration(horizon);

                jointModule->module_publisher_.publish(traj); // TODO, change
                jointModule->module_publisher_brics_.publish(cmd_vel);
        }
}

void TeleopCOB::update_base()
{
        if(!has_base_module_)
                return;
        double dt = 1.0/double(PUBLISH_FREQ);
        double v[] = {0.0,0.0,0.0};

        for( int i =0; i<3; i++)
        {
                // filter v with ramp
                if ((base_module_.req_vel_[i]-base_module_.vel_old_[i])/dt > base_module_.max_acc_[i])
                {
                        v[i] = base_module_.vel_old_[i] + base_module_.max_acc_[i]*dt;
                }
                else if((base_module_.req_vel_[i]-base_module_.vel_old_[i])/dt < -base_module_.max_acc_[i])
                {
                        v[i] = base_module_.vel_old_[i] - base_module_.max_acc_[i]*dt;
                }
                else
                {
                        v[i] = base_module_.req_vel_[i];
                }
                base_module_.vel_old_[i] = v[i];
        }

        geometry_msgs::Twist cmd;
        cmd.linear.x = v[0]; //vx;
        cmd.linear.y = v[1]; //vy;
        cmd.angular.z = v[2]; //vth;

        if (base_safety_)
        {
                base_module_.base_safety_publisher_.publish(cmd);
        }
        else
        {
                base_module_.base_publisher_.publish(cmd);
        }
}

int main(int argc,char **argv)
{
        ros::init(argc,argv,"teleop_cob");
        TeleopCOB teleop_cob;
        teleop_cob.init();

        ros::Rate loop_rate(PUBLISH_FREQ); //Hz
        while(teleop_cob.n_.ok())
        {
                ros::spinOnce();
                teleop_cob.update();
                loop_rate.sleep();
        }

        exit(0);
        return(0);
}