Implementation of teleoperation node for keyboard. More...

#include <termios.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include "ros/ros.h"
#include <sensor_msgs/Joy.h>

Include dependency graph for keyboard_publisher.cpp:

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Defines
#define	KEYCODE_1 0x31
#define	KEYCODE_2 0x32
#define	KEYCODE_3 0x33
#define	KEYCODE_4 0x34
#define	KEYCODE_5 0x35
#define	KEYCODE_6 0x36
#define	KEYCODE_7 0x37
#define	KEYCODE_8 0x38
#define	KEYCODE_A 0x61
#define	KEYCODE_B 0x62
#define	KEYCODE_C 0x63
#define	KEYCODE_D 0x64
#define	KEYCODE_D 0x64
#define	KEYCODE_E 0x65
#define	KEYCODE_F 0x66
#define	KEYCODE_G 0x67
#define	KEYCODE_H 0x68
#define	KEYCODE_I 0x69
#define	KEYCODE_M 0x6D
#define	KEYCODE_N 0x6E
#define	KEYCODE_Q 0x71
#define	KEYCODE_R 0x72
#define	KEYCODE_S 0x73
#define	KEYCODE_S 0x73
#define	KEYCODE_T 0x74
#define	KEYCODE_U 0x75
#define	KEYCODE_V 0x76
#define	KEYCODE_W 0x77
#define	KEYCODE_X 0x78
#define	KEYCODE_Y 0x79
#define	KEYCODE_Z 0x7A
Functions
void	composeJoyMessage (sensor_msgs::Joy &msg, char c)
int	main (int argc, char **argv)
void	quit (int sig)
void	showHelp ()
Variables
bool	fast_toggle
int	kfd = 0
bool	mode
const int	PUBLISH_FREQ = 5.0
struct termios cooked	raw

Detailed Description

Implementation of teleoperation node for keyboard.

Note:: Copyright (c) 2010
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA); Project name: care-o-bot; ROS stack name: cob_apps; ROS package name: cob_teleop

Author:: Author: Felix Messmer, email:felix.messmer@ipa.fhg.de

Date:: Date of creation: January 2011

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file keyboard_publisher.cpp.

Define Documentation

#define KEYCODE_1 0x31

Definition at line 88 of file keyboard_publisher.cpp.

#define KEYCODE_2 0x32

Definition at line 89 of file keyboard_publisher.cpp.

#define KEYCODE_3 0x33

Definition at line 90 of file keyboard_publisher.cpp.

#define KEYCODE_4 0x34

Definition at line 91 of file keyboard_publisher.cpp.

#define KEYCODE_5 0x35

Definition at line 92 of file keyboard_publisher.cpp.

#define KEYCODE_6 0x36

Definition at line 93 of file keyboard_publisher.cpp.

#define KEYCODE_7 0x37

Definition at line 94 of file keyboard_publisher.cpp.

#define KEYCODE_8 0x38

Definition at line 95 of file keyboard_publisher.cpp.

#define KEYCODE_A 0x61

Definition at line 79 of file keyboard_publisher.cpp.

#define KEYCODE_B 0x62

Definition at line 118 of file keyboard_publisher.cpp.

#define KEYCODE_C 0x63

Definition at line 116 of file keyboard_publisher.cpp.

#define KEYCODE_D 0x64

Definition at line 110 of file keyboard_publisher.cpp.

#define KEYCODE_D 0x64

Definition at line 110 of file keyboard_publisher.cpp.

#define KEYCODE_E 0x65

Definition at line 84 of file keyboard_publisher.cpp.

#define KEYCODE_F 0x66

Definition at line 111 of file keyboard_publisher.cpp.

#define KEYCODE_G 0x67

Definition at line 112 of file keyboard_publisher.cpp.

#define KEYCODE_H 0x68

Definition at line 75 of file keyboard_publisher.cpp.

#define KEYCODE_I 0x69

Definition at line 104 of file keyboard_publisher.cpp.

#define KEYCODE_M 0x6D

Definition at line 74 of file keyboard_publisher.cpp.

#define KEYCODE_N 0x6E

Definition at line 73 of file keyboard_publisher.cpp.

#define KEYCODE_Q 0x71

Definition at line 83 of file keyboard_publisher.cpp.

#define KEYCODE_R 0x72

Definition at line 100 of file keyboard_publisher.cpp.

#define KEYCODE_S 0x73

Definition at line 109 of file keyboard_publisher.cpp.

#define KEYCODE_S 0x73

Definition at line 109 of file keyboard_publisher.cpp.

#define KEYCODE_T 0x74

Definition at line 101 of file keyboard_publisher.cpp.

#define KEYCODE_U 0x75

Definition at line 103 of file keyboard_publisher.cpp.

#define KEYCODE_V 0x76

Definition at line 117 of file keyboard_publisher.cpp.

#define KEYCODE_W 0x77

Definition at line 82 of file keyboard_publisher.cpp.

#define KEYCODE_X 0x78

Definition at line 115 of file keyboard_publisher.cpp.

#define KEYCODE_Y 0x79

Definition at line 114 of file keyboard_publisher.cpp.

#define KEYCODE_Z 0x7A

Definition at line 102 of file keyboard_publisher.cpp.

Function Documentation

void composeJoyMessage	(	sensor_msgs::Joy &	msg,
		char	c
	)

Definition at line 136 of file keyboard_publisher.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 338 of file keyboard_publisher.cpp.

void quit ( int sig )

Definition at line 129 of file keyboard_publisher.cpp.

void showHelp ( )

Definition at line 315 of file keyboard_publisher.cpp.

Variable Documentation

bool fast_toggle

Definition at line 127 of file keyboard_publisher.cpp.

int kfd = 0

Definition at line 124 of file keyboard_publisher.cpp.

bool mode

Definition at line 127 of file keyboard_publisher.cpp.

const int PUBLISH_FREQ = 5.0

Definition at line 122 of file keyboard_publisher.cpp.

struct termios cooked raw

Definition at line 125 of file keyboard_publisher.cpp.

Defines

Functions

Variables

Detailed Description

Define Documentation

Function Documentation

Variable Documentation